Full-Pose Tracking via Robust Control for Over-Actuated Multirotors

TL;DR

This paper introduces a robust control architecture for over-actuated multirotors that enables precise full-pose tracking by extending existing control methods and employing a quadratic optimization-based control allocation.

Contribution

It extends INDI and H_inf control to over-actuated multirotors and develops a quadratic optimization approach for full-pose tracking considering physical constraints.

Findings

Effective full-pose tracking demonstrated in simulations

Enhanced robustness against disturbances

Adaptability to various mission scenarios

Abstract

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.