In this paper the control allocation problem is revisited in the context of quadrotor unmanned aerial vehicles (UAVs). Two control allocation strategies are ...

... In this work, a control allocation type technique is formulated on the nonlinear dynamics of the quadrotor to obtain optimum values for the desired attitude ...

Jul 8, 2016 · Abstract— In this paper the control allocation problem is revisited in the context of quadrotor unmanned aerial vehicles (UAVs).

Optimal control allocation of quadrotor UAVs subject to actuator constraints. A.L. Silva et al. Fast nonsingular terminal sliding mode flight control for ...

This paper focuses on the comparison of control allocation (CA) techniques based on their application to a laboratory setup which emulates the rotational ...

In vehicle control, control allocation is often used to abstract control variables from actuators, simplifying controller design and enhancing performance.

Optimal control allocation of quadrotor UAVs subject to actuator constraints. 1 Jul 2016. Adaptive fault tolerant control allocation for a hexacopter system. 1 ...

A control allocation-like scheme utilizing nonlinear constraint optimization at each control iteration, extracts reference angles for the desired trajectory, ...

This work investigates the use of constrained control allocation methods in a cascaded control structure to mitigate the adverse effects of actuator ...

Sep 22, 2017 · This paper deals with the problem of actuator saturation for INDI (Incremental Nonlinear Dy- namic Inversion) controlled flying vehicles.