The Cubli: Modeling and Nonlinear Attitude Control Utilizing Quaternions
This paper covers the modeling and nonlinear attitude control of the Cubli, a cube with three reaction wheels mounted on orthogonal faces that becomes a reaction wheel based 3D inverted pendulum when positioned in one of its vertices. The proposed approach utilizes quaternions instead of Euler angle...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
| Published: |
IEEE
2021-01-01
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| Series: | IEEE Access |
| Subjects: | |
| Online Access: | https://ieeexplore.ieee.org/document/9524577/ |