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Hierarchical control structure for the overactuated UAV platform. The high-level position and attitude tracking controller gives u u u ξ and u u uν to the allocation. The whole-body input is then allocated as the desired thrusts and joint angles for each quadcopter. Each quadcopter regulates its joint angles and thrust with an onboard low-level controller.

Hierarchical control structure for the overactuated UAV platform. The high-level position and attitude tracking controller gives u u u ξ and u u uν to the allocation. The whole-body input is then allocated as the desired thrusts and joint angles for each quadcopter. Each quadcopter regulates its joint angles and thrust with an onboard low-level controller.

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Preprint
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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
... force and torque inputs for the overall platform. A control allocation is designed to map the overall force and torque inputs to the desired joint angles and thrusts for individual quadcopters with gimbals. A low-level controller is designed for each quadcopter to track the desired inputs with fast response. The control diagram is shown in Fig. ...

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