A dynamic control allocation method for dual-tilt hexarotor UAVs is developed that enforces first-order actuator dynamics, accounts for saturation, and uses asymmetric optimization for propeller tilts in trajectory tracking tasks.
Input allocation for the propeller-based overactuated platform ROSPO
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Dynamic Control Allocation for Dual-Tilt UAV Platforms
A dynamic control allocation method for dual-tilt hexarotor UAVs is developed that enforces first-order actuator dynamics, accounts for saturation, and uses asymmetric optimization for propeller tilts in trajectory tracking tasks.