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Title
Japanese: 
English:Experimental Verification of Inverse Optimal Contorl for Inverted Pendulum Stabilization on a Quadrotor 
Author
Japanese: 松田 錬磨, 田所 祐一, 伊吹 竜也, 三平 満司.  
English: Renma Matsuda, Yuichi Tadokoro, Tatsuya Ibuki, Mitsuji Sampei.  
Language English 
Journal/Book name
Japanese: 
English:Proceedings of the SICE Annual Conference 2016 
Volume, Number, Page         pp. 715-718
Published date Sept. 20, 2016 
Publisher
Japanese: 
English:SICE 
Conference name
Japanese: 
English:SICE Annual Conference 2016 
Conference site
Japanese: 
English:Tsukuba 
Abstract This paper presents an experiment of stabilizing a 3D inverted pendulum attached on a quadrotor. We derive the bilinear approximated model through the second order Taylor series expansion and propose an inverse optimal control law for this system. Then, the validity of the presented approach is demonstrated via numerical simulation. Finally, we explain an experimental environment and demonstrate a stabilization experiment.

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