Full-Pose Tracking via Robust Control for Over-Actuated Multirotors
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arXiv
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| Autores principales: | , , , |
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| Formato: | Preprint |
| Publicado: |
2025
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| Acceso en línea: | |
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| _version_ | 1866916802218426368 |
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| author | Hachem, Mohamad Roos, Clément Miquel, Thierry Bronz, Murat |
| author_facet | Hachem, Mohamad Roos, Clément Miquel, Thierry Bronz, Murat |
| contents | This paper presents a robust cascaded control architecture for over-actuated multirotors. It extends the Incremental Nonlinear Dynamic Inversion (INDI) control combined with structured H_inf control, initially proposed for under-actuated multirotors, to a broader range of multirotor configurations. To achieve precise and robust attitude and position tracking, we employ a weighted least-squares geometric guidance control allocation method, formulated as a quadratic optimization problem, enabling full-pose tracking. The proposed approach effectively addresses key challenges, such as preventing infeasible pose references and enhancing robustness against disturbances, as well as considering multirotor's actual physical limitations. Numerical simulations with an over-actuated hexacopter validate the method's effectiveness, demonstrating its adaptability to diverse mission scenarios and its potential for real-world aerial applications. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2506_16427 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Full-Pose Tracking via Robust Control for Over-Actuated Multirotors Hachem, Mohamad Roos, Clément Miquel, Thierry Bronz, Murat Robotics Systems and Control This paper presents a robust cascaded control architecture for over-actuated multirotors. It extends the Incremental Nonlinear Dynamic Inversion (INDI) control combined with structured H_inf control, initially proposed for under-actuated multirotors, to a broader range of multirotor configurations. To achieve precise and robust attitude and position tracking, we employ a weighted least-squares geometric guidance control allocation method, formulated as a quadratic optimization problem, enabling full-pose tracking. The proposed approach effectively addresses key challenges, such as preventing infeasible pose references and enhancing robustness against disturbances, as well as considering multirotor's actual physical limitations. Numerical simulations with an over-actuated hexacopter validate the method's effectiveness, demonstrating its adaptability to diverse mission scenarios and its potential for real-world aerial applications. |
| title | Full-Pose Tracking via Robust Control for Over-Actuated Multirotors |
| topic | Robotics Systems and Control |
| url | https://arxiv.org/abs/2506.16427 |