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We consider the hovering control problem for a class of multi-rotor aerialplatforms with generically oriented propellers. Given the intrinsically coupledtranslational and rotational dynamics of such vehicles, we first discuss someassumptions for the considered systems to reject torque disturbances and tobalance the gravity force, which are translated into a geometriccharacterization of the platforms that is usually fulfilled by both standardmodels and more general configurations. Hence, we propose a control strategybased on the identification of a zero-moment direction for the applied forceand the dynamic state feedback linearization around this preferentialdirection, which allows to asymptotically stabilize the platform to a statichovering condition. Stability and convergence properties of the control law arerigorously proved through Lyapunov-based methods and reduction theorems for thestability of nested sets. Asymptotic zeroing of the error dynamics andconvergence to the static hovering condition are then confirmed by simulationresults on a star-shaped hexarotor model with tilted propellers.

Hierarchical non-linear control for multi-rotor asymptotic stabilization based on zero-moment direction