Office National d'Études et de Recherches Aérospatiales

Experimental validation of robust full-pose tracking for fully and overactuated multirotors

This paper presents a robust cascaded control architecture for fully actuated and overactuated multirotors. The proposed approachcombines Incremental Nonlinear Dynamic Inversion and structured H∞ control, and extends their application beyond underac-tuated platforms considered in...