Quadrotor mounted inverted spherical pendulum test stand-design and characterization

Madhavan Shanmugavel, V. Sujatha, H. Kristanto, B. Amin, L. H. Teo, Veera Ragavan

Research output: Chapter in Book/Report/Conference proceedingConference PaperResearch


This paper presents preliminary investigations on the motion of quadrotor mounted test-stand. The test-stand is designed based on inverted spherical pendulum. The pendulum has a platform on which a quadrotor UAV is mounted acting as an actuator. The pendulum has three degrees of freedom with radial, polar and azimuthal directions. The length of the pendulum is adjustable and the polar angle is constrained by ±25 degrees and has 360 degrees of rotation for azimuthal angle. This results in motion of the platform constrained to move in a a conical space. The torque inputs along roll, pitch and yaw directions of the UAV results in motion along radial, polar and azimuthal directions. To characterize the test-stand, static thrust force measurements are carried out using load cell and kinematics of the UAV are measured using IMUs. As an initial investigation, the motion of the test-stand is studied by applying torques along the roll, pitch and yaw directions. The results show that the test-stand is moving as expected with higher sensitive in angular velocity about for pitch torque input. The accelerations along x and z directions are prominent. A model is derived for test-stand will be used for further validation in future.

Original languageEnglish
Title of host publicationProceedings of the International Conference on Intelligent Computing and Control Systems (ICICCS 2020)
Place of PublicationPiscataway NJ USA
PublisherIEEE, Institute of Electrical and Electronics Engineers
Number of pages6
ISBN (Electronic)9781728148762, 9781728148755
ISBN (Print)9781728148779
Publication statusPublished - 2020
EventInternational Conference on Intelligent Computing and Control Systems 2020 - Madurai, India
Duration: 13 May 202015 May 2020
https://ieeexplore.ieee.org/xpl/conhome/9118609/proceeding (Proceedings)
https://www.aconf.org/conf_173489 (Websites)


ConferenceInternational Conference on Intelligent Computing and Control Systems 2020
Abbreviated titleICICCS 2020
Internet address


  • inverted spherical pendulum
  • Quadrotor
  • system identification
  • test-stand
  • testing platform
  • UAV

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