Fast Real-Time Control Allocation Applied to Over-Actuated Quadrotor Tilt-Rotor

This paper presents a novel light-weighted Unmanned Aerial Vehicle (UAV), an over-actuated tilt-rotor quadrotor with an innovative control allocation technique, named as Fast Control Allocation (FCA). In this arrangement, every motor has its own independent tilting command angle. By using this novel...

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Bibliographic Details
Published in:Journal of intelligent & robotic systems 2021-07, Vol.102 (3), Article 65
Main Authors: Santos, M. F., Honório, L. M., Moreira, A. P. G. M., Silva, M. F., Vidal, V. F.
Format: Article
Language:English
Subjects:
Actuation
Aircraft
Artificial Intelligence
Attitude (inclination)
Control
Control boards
Convergence
Drone aircraft
Electrical Engineering
Engineering
Flight conditions
Mechanical Engineering
Mechatronics
Regular Paper
Robotics
Robustness (mathematics)
Rotors
Topical collection on Unmanned Systems
Unmanned aerial vehicles
Yaw
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Summary:This paper presents a novel light-weighted Unmanned Aerial Vehicle (UAV), an over-actuated tilt-rotor quadrotor with an innovative control allocation technique, named as Fast Control Allocation (FCA). In this arrangement, every motor has its own independent tilting command angle. By using this novel approach, the aircraft enhances its yawing capability and increases one more actuation domain: forward/backward velocity. However, this approach generates a control allocation matrix with non-unique solutions, breaking the effectiveness matrix into two parts. The first one is created considering the yawing torque and forward/backward velocity, and the second one considers all aircraft dynamics, running iteratively until the convergence criteria are reached. The results showed a well designed UAV where the FCA convergence and robustness was visible, allowing reliable and safe flight conditions with low computational effort control boards.
ISSN:0921-0296
1573-0409
DOI:10.1007/s10846-021-01411-4