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About this paper
Seobeom Lee, Hyondong Oh
The authors present a servo-rate controller that preserves thrust margin for desired wrench requests as aerial robots tilt. It represents nominal-to-measured tilt mismatch as an equivalent wrench perturbation and constrains an ellipsoidal reserve within the nominal thrust-limited set. The measured-angle simulation kept the wrench feasible at 1,751 samples; this demonstrates sampled feasibility, not validation of the formal certificate.
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