Int. Arch. Photogramm. Remote Sens. Spatial Inf. Sci., XXXVIII-1/C22, 95-100, 2011
https://doi.org/10.5194/isprsarchives-XXXVIII-1-C22-95-2011
© Author(s) 2011. This work is distributed under
the Creative Commons Attribution 3.0 License.
 
06 Sep 2012
DISCUSSION AND PRACTICAL ASPECTS ON CONTROL ALLOCATION FOR A MULTI-ROTOR HELICOPTER
G. J. J. Ducard and M.-D. Hua I3S, UNS-CNRS 06903, Sophia Antipolis, France
Keywords: Multi-rotor UAVs, Hexacopter, Control Allocation, Weighted Pseudo-inverse Matrix Abstract. This paper presents practical methods to improve the flight performance of an unmanned multi-rotor helicopter by using an efficient control allocation strategy. The flying vehicle considered is an hexacopter. It is indeed particularly suited for long missions and for carrying a significant payload such as all the sensors needed in the context of cartography, photogrammetry, inspection, surveillance and transportation. Moreover, a stable flight is often required for precise data recording during the mission. Therefore, a high performance flight control system is required to operate the UAV. However, the flight performance of a multi-rotor vehicle is tightly dependent on the control allocation strategy that is used to map the virtual control vector v = [T, L, M, N ]T composed of the thrust and the torques in roll, pitch and yaw, respectively, to the propellers' speed. This paper shows that a control allocation strategy based on the classical approach of pseudo-inverse matrix only exploits a limited range of the vehicle capabilities to generate thrust and moments. Thus, in this paper, a novel approach is presented, which is based on a weighted pseudo-inverse matrix method capable of exploiting a much larger domain in v. The proposed control allocation algorithm is designed with explicit laws for fast operation and low computational load, suitable for a small microcontroller with limited floating-point operation capability.
Conference paper (PDF, 2109 KB)


Citation: Ducard, G. J. J. and Hua, M.-D.: DISCUSSION AND PRACTICAL ASPECTS ON CONTROL ALLOCATION FOR A MULTI-ROTOR HELICOPTER, Int. Arch. Photogramm. Remote Sens. Spatial Inf. Sci., XXXVIII-1/C22, 95-100, https://doi.org/10.5194/isprsarchives-XXXVIII-1-C22-95-2011, 2011.

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