Geometric Tracking Controller for a Multirotor UAV with Collective Pitch-Tilting
Research project in geometric control and aerial robotics.
This work is presented as a research project.
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.