2025/10/16 by Ahmed S. Ali, Chiara Gabellieri, Ali, Ahmed +3
Engineering · #Adaptive Control of Nonlinear Systems #Aerospace and Aviation Technology #Control and Stability of Dynamical Systems #Differential Geometry (math.DG) #FOS: Electrical engineering #FOS: Mathematics #Systems and Control (eess.SY) #electronic engineering #information engineering
paper · pdf · doi:10.48550/arxiv.2510.15071
openalex publication_date 2025/10/16 · openalex created_date 2025/10/21 · openalex updated_date 2026/07/29
We introduce the PenduMAV, an exactly actuated (6-input) omnidirectional multirotor that structurally eliminates internal forces at equilibria. The vehicle features one actively-tilting propeller and three propellers mounted on passive pendulum links via universal joints. This architecture achieves full 6D wrench generation while avoiding the structural and energetic costs of input redundancy and internal forces. After deriving the full multibody dynamics, we demonstrate that a forced equilibrium exists for every main platform pose. To asymptotically stabilize the closed-loop system, we design a coordinate-invariant nonlinear controller based on dynamic feedback linearization and backstepping, utilizing the left-trivialized error on SE(3). System stability is formally guaranteed through Lyapunov analysis of the zero dynamics. Finally, Gazebo simulations (videos available at https://www.youtube.com/playlist?list=PL4N8pJgvqASQX6AWEpg3NCZ6QdGBPfbXq) validate the approach, showcasing fully decoupled attitude and translational tracking under parametric uncertainty and actuator noise.