feat: 2D inverted pendulum on a drone (upright stabilisation) — Ticket #45#73
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zhangx1ang03620 wants to merge 19 commits into
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feat: 2D inverted pendulum on a drone (upright stabilisation) — Ticket #45#73zhangx1ang03620 wants to merge 19 commits into
zhangx1ang03620 wants to merge 19 commits into
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Add dynamics model for drone with pendulum, RK4 integration
feat(sim): add scene rendering for drone and pendulum
feat(control): add LQR controller with numerical linearization
build: add pyzmq dependency for communication layer
Feature/ticket 45 test
kirillin
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Jun 20, 2026
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Nice, I like it implementation 👍
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Closes #45
Implements a planar quadrotor-pendulum system stabilised at the upright equilibrium using LQR control.
Results: starting from a 17-degree initial pendulum deviation, the system converges to upright stability within ~4 seconds. See README for full details, plots, and demonstration video.