Next-Gen Aerial Mobility and High-fidelity Aerial Manipulation

The growing demand for unmanned aerial vehicles (UAVs) capable of high-precision full-pose manipulation has spurred significant interest in thrust-vectoring multirotor systems. Unlike conventional coplanar designs, these platforms achieve full six-degree-of-freedom (6-DoF) actuation by orienting thrust and torque vectors within the airframe in a non-coplanar fashion. This capability enables aggressive trajectory tracking, interaction with unconstrained environments, and operation in spatially confined workspaces critical for applications such as contact-based inspection, aerial physical interaction, and industrial maintenance.

Precision Maneuvering of Fully Actuated UAVs

Fully actuated UAVs offer improved maneuverability and precise six-degree-of-freedom (6-DoF) control, making them ideal for complex tasks such as aerial manipulation, inspection in constrained environments, and fault-tolerant operations. However, their over-actuated nature introduces challenges in control allocation and robustness against disturbances. Our research focuses on robust control technique combined with an optimized control allocation framework to ensure stable and agile trajectory tracking for fully actuated UAVs.

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