Stabilizing a spherical pendulum on a quadrotor

In this article, we design a backstepping control law based on geometric principles to swing up spherical pendulum mounted moving quadrotor. The available degrees of freedom in the vector also permit us position plane quadrotor parallel ground. problem addressed here is, indeed, novel and has many practical applications which arise during transport payload top modeling are coordinate-free thus avoid singularity issues. treatment greatly simplifies both for system. action is verified supported by numerical experiments aggressive maneuvers starting very close downward stable equilibrium pendulum.