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

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.
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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