  An omnidirectional multirotor has the advantageous maneuverability of
decoupled translational and rotational motions, drastically superseding the
traditional multirotors' motion capability. Such maneuverability requires an
omnidirectional multirotor to frequently alter the thrust amplitude and even
direction, which is prone to the rotors' settling time induced from the rotors'
own dynamics. Furthermore, the omnidirectional multirotor's stability for
tracking control in the presence of rotor dynamics has not yet been addressed.
To resolve this issue, we propose a geometric tracking controller that takes
the rotor dynamics into account. We show that the proposed controller yields
the zero equilibrium of the error dynamics almost globally exponentially
stable. The controller's tracking performance and stability are verified in
simulations. Furthermore, the single-axis force experiment with the
omnidirectional multirotor has been performed to confirm the proposed
controller's performance in mitigating the rotors' settling time in the real
world.
