Stability Analysis of Geometric Control for a Canonical Class of Underactuated Aerial Vehicles with Spurious Forces
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arXiv
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| Format: | Preprint |
| Published: |
2026
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| _version_ | 1866917280768589824 |
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| author | Orelli, Simone Mizzoni, Mirko Franchi, Antonio |
| author_facet | Orelli, Simone Mizzoni, Mirko Franchi, Antonio |
| contents | Standard geometric control relies on force-moment decoupling, an assumption that breaks down in many aerial platforms due to spurious forces naturally induced by control moments. While strategies for such coupled systems have been validated experimentally, a rigorous theoretical certification of their stability is currently missing. This work fills this gap by providing the first formal stability analysis for a generic class of floating rigid bodies subject to spurious forces. We introduce a canonical model and construct a Lyapunov-based proof establishing local exponential stability of the hovering equilibrium. Crucially, the analysis explicitly addresses the structural challenges - specifically the induced non-minimum-phase behavior - that prevent the application of standard cascade arguments. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2602_10961 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | Stability Analysis of Geometric Control for a Canonical Class of Underactuated Aerial Vehicles with Spurious Forces Orelli, Simone Mizzoni, Mirko Franchi, Antonio Robotics Optimization and Control Standard geometric control relies on force-moment decoupling, an assumption that breaks down in many aerial platforms due to spurious forces naturally induced by control moments. While strategies for such coupled systems have been validated experimentally, a rigorous theoretical certification of their stability is currently missing. This work fills this gap by providing the first formal stability analysis for a generic class of floating rigid bodies subject to spurious forces. We introduce a canonical model and construct a Lyapunov-based proof establishing local exponential stability of the hovering equilibrium. Crucially, the analysis explicitly addresses the structural challenges - specifically the induced non-minimum-phase behavior - that prevent the application of standard cascade arguments. |
| title | Stability Analysis of Geometric Control for a Canonical Class of Underactuated Aerial Vehicles with Spurious Forces |
| topic | Robotics Optimization and Control |
| url | https://arxiv.org/abs/2602.10961 |