Inverted Pendulum Stabilization with Flying Quadrotor

Abstract

Quadrotor flying hoverboard is a future technology with applications in various fields such as sports, recreation, military, disaster mitigation and urban transportation. In this paper, it is developed a quadrotor flying hoverboard system that stabilizes an inverted pendulum controlled by a PID controller. The implementation of the PID controller begins with the design of the hardware and prototype, followed by the system modeling, and continued by the PID controller design and the safety system. The control system consists of two PID controllers switched at a specified angle of the inverted pendulum position. The PID controllers with optimized parameters and fine tuning give the best response of the output roll angle inverted pendulum although there occurs time delay about 0.2 s.