arXiv subjects

Quentin Sablé

Publications and source records attributed to Quentin Sablé.

3 recordsLinked to original sources

arXiv2026

The PenduMAV: A Six-Input Omnidirectional MAV without Internal Forces - Design, Dynamics, and SE(3) Control

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 validate the approach, showcasing fully decoupled attitude and translational tracking under parametric uncertainty and actuator noise.

eess.SY↗

arXiv2026

Sensitivity-Based Tube NMPC for Cooperative Aerial Structures Under Parametric Uncertainty

This paper presents a sensitivity-based tube Nonlinear Model Predictive Control (NMPC) framework for cooperative aerial chains under bounded parametric uncertainty. We consider a planar two-vehicle chain connected by rigid links, modeled with input-rate actuation to enforce slew-rate and magnitude limits on thrust and torque. Robustness to uncertainty in link mass, length, and inertia is achieved by propagating first-order parametric state sensitivities along the horizon and using them to compute online constraint-tightening margins. We robustify an inter-link separation constraint, implemented via a smooth cosine embedding, and thrust-magnitude bounds. The method is implemented in MATLAB and evaluated with boundary-hugging maneuvers and Monte-Carlo uncertainty sampling. Results show improved constraint margins under uncertainty with tracking performance comparable to nominal NMPC.

cs.RO↗

arXiv2024

Modelling, Analysis and Control of OmniMorph: an Omnidirectional Morphing Multi-rotor UAV

This paper introduces for the first time the design, modelling, and control of a novel morphing multi-rotor Unmanned Aerial Vehicle (UAV) that we call the OmniMorph. The morphing ability allows the selection of the configuration that optimizes energy consumption while ensuring the needed maneuverability for the required task. The most energy-efficient uni-directional thrust (UDT) configuration can be used, e.g., during standard point-to-point displacements. Fully-actuated (FA) and omnidirectional (OD) configurations can be instead used for full pose tracking, such as, e.g., constant attitude horizontal motions and full rotations on the spot, and for full wrench 6D interaction control and 6D disturbance rejection. Morphing is obtained using a single servomotor, allowing possible minimization of weight, costs, and maintenance complexity. The actuation properties are studied, and an optimal controller that compromises between performance and control effort is proposed and validated in realistic simulations. Preliminary tests on the prototype are presented to assess the propellers' mutual aerodynamic interference.

cs.RO↗