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

• Type: Article in International Scientific Journal
• Date: 2021

Authors

Santos, MF (Author) Other; Honorio, LM (Author) Other; António Paulo Moreira (Author) FEUP; Silva, MF (Author) Other; Vidal, VF (Author) Other

Journal

Title: Journal of Intelligent and Robotic Systems: Theory and Applications

Vol. 102

Final page: 65

ISSN: 0921-0296

Publisher: Springer Nature

Indexing

ISI Web of Knowledge - 0 Citations

Scopus - 0 Citations

Other information

Authenticus ID: P-00V-3TT

DOI: 10.1007/s10846-021-01411-4

Abstract (EN): 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.

Language: English

Type (Professor's evaluation): Scientific

No. of pages: 20