Eventos Anais de eventos
COBEM 2021
26th International Congress of Mechanical Engineering
Evaluation of Control Allocation Methods for Multirotor Aerial Vehicles
Submission Author:
José Agnelo Bezerra , SP
Co-Authors:
José Agnelo Bezerra, Davi Antônio dos Santos
Presenter: José Agnelo Bezerra
doi://10.26678/ABCM.COBEM2021.COB2021-1011
Abstract
The present work deals with the control allocation of multirotor aerial vehicles (MAVs). We propose an optimal method that directly considers, as a hard equality constraint, the structural relation (control allocation equation) between the rotor commands and the control variable, besides respecting the physical or operational limits of the rotors. The proposed approach aims to exactly allocate the desired control efforts, thus ensuring the designed control features (e.g., performance and stability) for the closed-loop system. The method is compared with three control allocators most used in the aerospace literature: the pseudo-inverse, the direct allocation, and the conventional optimal allocator. Through computational simulations, we can attest that the proposed control allocator performs quite similar to the best existing approaches, but, different from the others, it also guarantees an exact control allocation.
Keywords
multirotor aerial vehicle, control allocation
