A vehicle and method of control comprising generating a geometric control envelope in a geometric space of operation points defined by a number of control aspects, the envelope having vertices representing maximum values of the control aspects, and determining a desired operation point in the geometric space representing a control input. Further, the method includes if the desired operation point is outside the envelope, scaling up a first one of the control aspects by a first factor, determining an effective operation point in the envelope geometrically closest to the desired operation point, scaling down all of the control aspects by a second factor inverse of the first factor, and instructing the propulsion mechanisms to propel the vehicle according to the effective operation point.
GEOMETRIC CONTROL ENVELOPE SYSTEM AND METHOD FOR LIMITING COMMANDS TO ACTUATOR MAPPING FUNCTION
2022-08-04
Patent
Elektronische Ressource
Englisch
GEOMETRIC CONTROL ENVELOPE SYSTEM AND METHOD FOR LIMITING COMMANDS TO ACTUATOR MAPPING FUNCTION
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