Improved Maneuverability for Multirotor Aerial Vehicles using Globally Stabilizing Feedbacks

In this paper, we present the design of trajectory tracking controllers for multirotor aerial vehicles that have the ability to operate both with and without thrust reversal. We follow a hierarchical control approach, in the sense that we start by designing a common saturated controller for the position subsystem and use it to provide a reference to an attitude tracking controller. The controllers for each operating mode are able to achieve global asymptotic stability as well as semiglobal exponential stabilization of the zero tracking error set. We demonstrate the capabilities of the proposed controllers in a simulation that performs a throw-and-catch maneuver.