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Simulation: Vertical rotation trajectory tracking performance comparison between three allocation methods on the overactuated UAV platform. (F for FD-based framework, Q for QP-based framework, N for nullspace-based framework)

Simulation: Vertical rotation trajectory tracking performance comparison between three allocation methods on the overactuated UAV platform. (F for FD-based framework, Q for QP-based framework, N for nullspace-based framework)

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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...

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... to Section V-A, three allocation frameworks are implemented on the overactuated UAV platform in experiment to track the vertical rotation trajectory as shown in Fig. 8. Starting at 10 s, the FD-based allocation framework results in instability. As the joint angles β 1 and β 3 approach ± π 2 (i.e., the second joint of the top and bottom gimbals), these two gimbals become singular and ill-conditioned. For the QPbased framework, the singularity problem is solved by adding constraints on the rate of ...

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