Fig 2 - Nullspace-Based Control Allocation of Overactuated UAV Platforms

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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Reference

Nullspace-Based Control Allocation of Overactuated UAV Platforms - Scientific Figure on ResearchGate. Available from: https://www.researchgate.net/figure/Hierarchical-control-structure-for-the-overactuated-UAV-platform-The-high-level-position_fig2_353815614 [accessed 8 Feb, 2023]

Caption

Fig. 2: 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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<a href="https://www.researchgate.net/figure/Hierarchical-control-structure-for-the-overactuated-UAV-platform-The-high-level-position_fig2_353815614"><img src="https://www.researchgate.net/profile/Yao-Su/publication/353815614/figure/fig2/AS:1056527779647488@1628907260558/Hierarchical-control-structure-for-the-overactuated-UAV-platform-The-high-level-position.ppm" alt="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."/></a>