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.

翻译：四旋翼飞行器是一个具有欠驱动特性的六自由度系统。在四旋翼顶部附加球面摆进一步增加了在稳定其余自由度的同时实现输出跟踪任务的复杂性。本报告针对四旋翼与摆组合的非线性动力学系统，采用反馈线性化方法以及基于控制李雅普诺夫函数与二次规划（CLF-QP）的控制方法，提出了多种控制器设计方案。我们分别对纯四旋翼系统以及四旋翼-摆组合系统进行了轨迹跟踪验证。