Linear controller design for an omnidirectional morphing UAV at different operating points

Finished: 2023-07-07

BSc assignment

The goal is to study and design a linear controller for an omnidirectional multirotor that can actively tilt its propellors mid-flight.

When the propellors tilt, the gains of the controller need to be varied in order to account for the varying mapping from actuator inputs to the resulting wrench on the platform.

The specific goals are as follows:

- Develop a simulation environment for the model.
- Develop a controller to achieve the desired dynamic behavior.
- Develop a gain scheduling technique for different tilt angles.