Ducted fan UAVs, aircraft with redundant control surfaces, usually solve the control allocation problem via the pseudo-inverse method. However, this method cannot return admissible control for all the moments in the Attainable Moment Set (AMS), therefore sacrificing partial control ability of redundant control surfaces. To solve this problem, this paper proposes a prioritized control allocation method, which first decomposes the desired moments into a sequence of prioritized partitions, followed by solution of the constrained optimization problem to obtain admissible control. Compared with the pseudo-inverse method, the proposed method can return admissible control for a larger range of desired moments. In addition, when the desired moments are unattainable, it can prevent the system from output coupling caused by actuator saturation. The proposed method is applied to the control allocation of ducted fan UAVs. Simulation and experiments verify the effectiveness of the method.
MENG Chaoheng
,
PEI Hailong
,
CHENG Zihuan
. Prioritized control allocation for ducted fan UAVs[J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2020
, 41(10)
: 324017
-324017
.
DOI: 10.7527/S1000-6893.2020.24017
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