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cs.RO2024
Saturated RISE control for considering rotor thrust saturation of fully actuated multirotor
Dongjae Lee, H. Jin Kim
This work proposes a saturated robust controller for a fully actuated multirotor that takes disturbance rejection and rotor thrust saturation into account. A disturbance rejection…
cs.RO2024
Autonomous aerial perching and unperching using omnidirectional tiltrotor and switching controller
Dongjae Lee, Sunwoo Hwang, Jeonghyun Byun +2
Aerial unperching of multirotors has received little attention as opposed to perching that has been investigated to elongate operation time. This study presents a new aerial robot…