Collective pitch-tilting multirotor control
Geometric trajectory tracking, differential flatness, and Lyapunov stability analysis for an unconventional multirotor.
Research at the Interactive and Networked Robotics Laboratory, Seoul National University, with Prof. Dongjun Lee. Collaborators: Taekyun Kim and Dongjun Lee.
I derived a geometric trajectory-tracking controller for a multirotor with collective pitch-tilting and established position, yaw, and pitch as differentially flat outputs. Using Lyapunov analysis, I proved almost-global exponential attractiveness of the closed-loop dynamics and demonstrated the controller’s performance in MATLAB simulations.
The vehicle can produce thrust in both upward and forward directions, allowing force generation without the attitude changes required by a conventional multirotor.