Geometric Backstepping Control of Omnidirectional Tiltrotors Incorporating Servo-Rotor Dynamics for Robustness against Sudden Disturbances

Jaewoo Lee, Dongjae Lee, Jinwoo Lee +3

This work presents a geometric backstepping controller for a variable-tilt omnidirectional multirotor that explicitly accounts for both servo and rotor dynamics. Considering actuat…