A 2-manifold model multi-rotor UAV control system

Precise path following is essential for reliable multi-rotor unmanned aerial vehicle (MUAV) operation. Current control strategies suffer from control singularities due to a mismatch between the number of actuators and the degrees of freedom of the MUAV. This paper proposes a 2-manifold modeling approach for MUAV control systems. Representing a MUAV as a 2-dimensional manifold eliminates singularities and potentially simplifies the control structure. This can lead to more precise and reliable MUAV flights, paving the way for broader adoption in civil applications. A simulation-based study is conducted to evaluate the performance of the 2-manifold model compared to the conventional point-mass model. The study assesses metrics such as smoothness, stability, and control effort. The findings of this research have the potential to significantly improve the controllability and performance of multi-rotor UAVs.