Geometric Backstepping Control of Omnidirectional Tiltrotors Incorporating Servo–Rotor Dynamics for Robustness against Sudden Disturbances

This work presents a geometric backstepping controller for a variable-tilt omnidirectional multirotor that explicitly accounts for both servo and rotor dynamics. Considering actuator dynamics is essential for more effective and reliable operation, particularly during aggressive flight maneuvers or recovery from sudden disturbances. While prior studies have investigated actuator-aware control for conventional and fixed-tilt multirotors, these approaches rely on linear relationships between actuator input and wrench, which cannot capture the nonlinearities induced by variable tilt angles. In this work, we exploit the cascade structure between the rigid-body dynamics of the multirotor and its nonlinear actuator dynamics to design the proposed backstepping controller and establish exponential stability of the overall system. Furthermore, we reveal parametric uncertainty in the actuator model through experiments, and we demonstrate that the proposed controller remains robust against such uncertainty. The controller was compared against a baseline that does not account for actuator dynamics across three experimental scenarios: fast translational tracking, rapid rotational tracking, and recovery from sudden disturbance. The proposed method consistently achieved better tracking performance, and notably, while the baseline diverged and crashed during the fastest translational trajectory tracking and the recovery experiment, the proposed controller maintained stability and successfully completed the tasks, thereby demonstrating its effectiveness.