2026
Geometric Backstepping Control of Omnidirectional Tiltrotors Incorporating Servo–Rotor Dynamics for Robustness against Sudden Disturbances
ICRA 2026poster
This work presents a geometric backstepping controller for a variable-tilt omnidirectional multirotor that explicitly accounts for both servo and rotor dynamics. Considering actuator dynamics is essential for more effective and reliable operation, particularly during aggressive flight maneuvers or r…