Adaptive Control of Variable-Tilt Hexacopter
Jan 2025 – May 2025 � completed
Geometric adaptive control on SE(3) for fully-actuated aerial vehicles with online parameter estimation.
- Python
- ROS
- Control Systems
View repository � public
Research Theme
Variable-Tilt Hexacopter Design and Control
2024 - Present
ongoing- Geometric Control
- SE(3)
- Aerial Robotics
- Adaptive Control
- Control Allocation
Overview
Research Overview
Design and implementation of a novel hexacopter with variable tilt motors for enhanced maneuverability
Variable-Tilt Hexacopter Design and Control
Overview
Traditional multirotor designs are fundamentally limited in their maneuverability and control authority due to fixed motor orientation. This research explores a novel hexacopter architecture featuring variable-tilt motors.
Key Contributions
- Novel Actuator Design
- Aerodynamic Characterization
- Control Algorithm Development
- Geometric Control Framework
- Fault Tolerance
Applications
- Aggressive Maneuvers
- Confined Space Operation
- Payload Delivery
- Precision Positioning
Projects
Related Projects
SE(3) Geometric Estimation and Control
Jan 2025 – May 2025 � completed
Geometric approach to modelling, control allocation, and visual-inertial odometry for hexacopters.
- Python
- ROS
- Computer Vision
View repository � public
Publications
Related Publications
Farooq Olanrewaju, Coauthors
"Geometric Adaptive Control on SE(3) for Fully-Actuated Aerial Vehicles With Online Parameter Estimation," ICUAS 2026, 2026.
Farooq Olanrewaju, Coauthors
"From Modeling to Control Allocation: A Geometric Approach to Variable-Tilt Hexacopter," ICUAS 2026, 2026.