Experimental validation of robust full-pose tracking for fully and overactuated multirotors
Abstract
This paper presents a robust cascaded control architecture for fully actuated and overactuated multirotors. The proposed approach combines Incremental Nonlinear Dynamic Inversion and structured ℋ∞ control, and extends their application beyond underactuated platforms considered in previous work. It reduces dependence on an accurate multirotor model by shifting the modeling effort toward the actuator dynamics, thereby improving closed-loop robustness in the presence of uncertainties. Moreover, attitude and position tracking are achieved through a geometric weighted least-squares control allocation scheme formulated as a quadratic optimization problem in the guidance loop, enabling full-pose tracking. The proposed architecture effectively addresses key practical challenges such as avoiding infeasible pose references, enhancing robustness to external disturbances, and complying with the multirotor physical limitations. Numerical simulations conducted on an overactuated hexacopter demonstrate the effectiveness of the method across diverse real-world mission scenarios. In addition, experimental results obtained on a fully actuated hexacopter confirm the capability of the proposed architecture to reject disturbances and independently control the different multirotor dynamics.
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BibTeX
@article{hachem2026experimental,
title = {{Experimental validation of robust full-pose tracking for fully and overactuated multirotors}},
author = {Mohamad Hachem and Clément Roos and Thierry Miquel and Murat Bronz},
journal = {Control Engineering Practice},
year = {2026},
month = sep,
doi = {10.1016/j.conengprac.2026.107194},
url = {https://enac.hal.science/hal-05757139v1},
note = {CC BY 4.0},
}
RIS
TY - JOUR
TI - Experimental validation of robust full-pose tracking for fully and overactuated multirotors
AU - Mohamad Hachem
AU - Clément Roos
AU - Thierry Miquel
AU - Murat Bronz
PY - 2026
DA - 2026/09/21
JO - Control Engineering Practice
DO - 10.1016/j.conengprac.2026.107194
UR - https://enac.hal.science/hal-05757139v1
AB - This paper presents a robust cascaded control architecture for fully actuated and overactuated multirotors. The proposed approach combines Incremental Nonlinear Dynamic Inversion and structured ℋ∞ control, and extends their application beyond underactuated platforms considered in previous work. It reduces dependence on an accurate multirotor model by shifting the modeling effort toward the actuator dynamics, thereby improving closed-loop robustness in the presence of uncertainties. Moreover, attitude and position tracking are achieved through a geometric weighted least-squares control allocation scheme formulated as a quadratic optimization problem in the guidance loop, enabling full-pose tracking. The proposed architecture effectively addresses key practical challenges such as avoiding infeasible pose references, enhancing robustness to external disturbances, and complying with the multirotor physical limitations. Numerical simulations conducted on an overactuated hexacopter demonstrate the effectiveness of the method across diverse real-world mission scenarios. In addition, experimental results obtained on a fully actuated hexacopter confirm the capability of the proposed architecture to reject disturbances and independently control the different multirotor dynamics.
SN - 0967-0661
ER -