Optimal control allocation of quadrotor UAVs subject to actuator constraints

In this paper the control allocation problem is revisited in the context of quadrotor unmanned aerial vehicles (UAVs). Two control allocation strategies are presented, both aiming to avoid output saturation. The first strategy is based on the optimization of a weighted least squares (WLS) criterion...

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Published inProceedings of the American Control Conference pp. 500 - 505
Main Authors Monteiro, Joao C., Lizarralde, Fernando, Liu Hsu
Format Conference Proceeding Journal Article
LanguageEnglish
Published American Automatic Control Council (AACC) 01.07.2016
Subjects
Actuators
Allocations
Boundaries
Constants
Mathematical analysis
Optimization
Propellers
Resource management
Rotorcraft
Strategy
Unmanned aerial vehicles
Vectors (mathematics)
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Summary:In this paper the control allocation problem is revisited in the context of quadrotor unmanned aerial vehicles (UAVs). Two control allocation strategies are presented, both aiming to avoid output saturation. The first strategy is based on the optimization of a weighted least squares (WLS) criterion subject to boundary constraints. The second, called direct control allocation (DCA), aims to maintain constant the direction of the desired virtual efforts vector. As a modification of this strategy, we introduce the partial control allocation (PCA) scheme. In the latter, only the direction of a fraction of the desired virtual efforts vector is kept constant. It is also presented a discussion on the performance of the DCA and PCA schemes.
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SourceType-Conference Papers & Proceedings-2
ISSN:2378-5861
DOI:10.1109/ACC.2016.7524963