Zhenlong Zhang

Differential Flatness Based Control for a Reconfigured Underactuated Hexacopter With Lateral Bi-Directional Thrust

Aerial docking of unmanned aerial vehicles (UAVs) is essential for advanced applications like persistent surveillance and in-flight recharging. Conventional underactuated multirotors, with only four control inputs for six degrees of freedom, lack independent control over their full pose. This fundam