2 papers
cs.RO2025
Full-Pose Tracking via Robust Control for Over-Actuated Multirotors
Mohamad Hachem, Clément Roos, Thierry Miquel +1
This paper presents a robust cascaded control architecture for over-actuated multirotors. It extends the Incremental Nonlinear Dynamic Inversion (INDI) control combined with struct…
cs.RO2025
Improving Incremental Nonlinear Dynamic Inversion Robustness Using Robust Control in Aerial Robotics
Mohamad Hachem, Clément Roos, Thierry Miquel +1
Improving robustness to uncertainty and rejection of external disturbances represents a significant challenge in aerial robotics. Nonlinear controllers based on Incremental Nonline…