# Nonlinear Controller Design for a Quadrotor with Inverted Pendulum

arXiv: https://arxiv.org/abs/2308.02741 · HTML: https://mlsanity.com/paper/2308.02741/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 0 of its 4 references that are in the map.
- First posted on arXiv 4 Aug 2023.

## Abstract (arXiv)

The quadrotor is a 6 degrees-of-freedom (DoF) system with underactuation. Adding a spherical pendulum on top of a quadrotor further complicates the task of achieving any output tracking while stabilizing the rest. In this report, we present different types of controllers for the nonlinear dynamical system of quadrotor and pendulum combination, utilizing feedback-linearization and control Lyapunov function with quadratic programming (CLF-QP) approaches. We demonstrated trajectory tracking for quadrotor-only case as well as quadrotor-pendulum-combined case.