Optimal Acrobatic Trajectory Generation for Fully-Actuated UAV

Finished: 2021-01-18

MSc assignment

Geometric mechanics has proven in the past decades to provide powerful mathematical tools to model, analyze and control different systems varying from finite-dimensional ones like the motion of particles and rigid bodies to infinite-dimensional ones like fluid mechanics.

This assignment deals with the application of differential geometric techniques to model and control acrobatic maneuvers of a fully-actuated UAV. The acrobatic maneuvers require the UAV to smoothly transition from a flying state to a balancing state on the ground. The equations of motion governing the UAV in both states are different and thus require different geometric modeling and control techniques. The designed control algorithms will be tested and validated both in simulation and experiment on platforms available at RAM.