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Computing logic of three allocation frameworks. FD-based framework (dashed blue arrows) converts the nonlinear allocation problem to a linear mapping, and acquires a least-square solution by setting Z Z Z = 0 in the general solution. QP-based framework (dotted orange arrows) transforms the allocation problem to a constrained QP with Taylor expansion, but it only generates an approximate solution. The nullspace-based framework (solid green arrows) formulates the constrained QP problem with extra constraints, and projects the approximate solution onto the nullspace of the allocation matrix to obtain an exact solution.

Computing logic of three allocation frameworks. FD-based framework (dashed blue arrows) converts the nonlinear allocation problem to a linear mapping, and acquires a least-square solution by setting Z Z Z = 0 in the general solution. QP-based framework (dotted orange arrows) transforms the allocation problem to a constrained QP with Taylor expansion, but it only generates an approximate solution. The nullspace-based framework (solid green arrows) formulates the constrained QP problem with extra constraints, and projects the approximate solution onto the nullspace of the allocation matrix to obtain an exact solution.

Source publication
Preprint
Full-text available
Multirotor copters with full six Degree of Freedom (DoF) maneuvering are often overactuated. The control allocation of overactuated UAV platforms can have an infinite number of solutions due to their redundancy. The most common allocation framework is based on Force Decomposition (FD), which provides a robust least-square solution and is easy to im...

Context in source publication

Context 1
... section starts with outlining two commonly used allocation methods based on FD and QP respectively. Their advantages and disadvantages are discussed. This motivates us to propose a novel nullspace-based allocation framework that combines the merits of the two existing methods. The computing logic of these three allocation frameworks are shown in Fig. ...

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