Nonlinear control of non-differentially-flat underactuated Generically Tilted Multirotors with moment-force coupling

Coming Soon :)

My thesis develops and rigorously analyses a geometric control law for a broad family of multi-rotor aerial vehicles equipped with at least 4 propellers arbitrarily placed about the centre of mass and allowed to tilt by two angles.
These platforms are fully actuated in orientation and possess at least one direction along which it is possible to independently regulate the control force without disturbing attitude. A subset also experiences a parasitic force: any torque commanded for re-orientation injects an unwanted translational force.
Building on a strategy proposed by Prof. Antonio Franchi, I prove the controller achieves local exponential stability despite this coupling, unifying attitude and position control for both ideal and parasitic-force vehicles in a single theoretical framework.