Downwash-aware Control Allocation for Over-actuated UAV Platforms
Yao Su,Chi Chu,Meng Wang,Jiarui Li,Liu Yang,Yixin Zhu,Hangxin Liu,Yao Su,Chi Chu,Meng Wang,Jiarui Li,Liu Yang,Yixin Zhu,Hangxin Liu
Tracking position and orientation independently affords more agile maneuver for over-actuated multirotor Unmanned Aerial Vehicles (UAVs) while introducing undesired downwash effects; downwash flows generated by thrust generators may counteract others due to close proximity, which significantly threatens the stability of the platform. The complexity of modeling aerodynamic airflow challenges contro...
