5 papers · 1 filter
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…
Autonomous Aerial Manipulation at Arbitrary Pose in SE(3) with Robust Control and Whole-body Planning
Dongjae Lee, Byeongjun Kim, H. Jin Kim
Aerial manipulators based on conventional multirotors can conduct manipulation only in small roll and pitch angles due to the underactuatedness of the multirotor base. If the multi…
Safety-Critical Control for Aerial Physical Interaction in Uncertain Environment
Jeonghyun Byun, Yeonjoon Kim, Dongjae Lee +1
Aerial manipulation for safe physical interaction with their environments is gaining significant momentum in robotics research. In this paper, we present a disturbance-observer-bas…
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…
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…