In this paper, a new method of control allocation is presented in the context of redundantly-actuated multirotor unmanned aerial vehicles (UAV). The equation between the virtual control efforts and the output of the actuator and the output limit of the actuator are taken as the constraints to express the method as a non-linear convex optimization problem. The proposed method is applied to extreme cases including poor actuator performance and propeller damage of multirotor and is suitable for redistributing the control effort to actuators while respecting its mechanical constraints.


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    Title :

    Control Allocation for Multirotor Subjected to a Complete Actuator Failure


    Additional title:

    Lect. Notes Electrical Eng.


    Contributors:
    Wu, Meiping (editor) / Niu, Yifeng (editor) / Gu, Mancang (editor) / Cheng, Jin (editor) / Bai, Hua (author) / Ma, Hongjun (author) / Shi, Lili (author)

    Conference:

    International Conference on Autonomous Unmanned Systems ; 2021 ; Changsha, China September 24, 2021 - September 26, 2021



    Publication date :

    2022-03-18


    Size :

    8 pages





    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English




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