Real-Time Nonlinear Control Allocation Framework for Vehicles with Highly Nonlinear Effectors Subject to Saturation

Hybrid Unmanned Aerial Vehicles UAV are vehicles capable of take-off and landing vertically like helicopters while maintaining the long-range efficiency of fixed-wing aircraft. Unfortunately, due to their wing area, these vehicles are sensitive to wind gusts when hovering. One way to increase the ho...

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Bibliographic Details
Published in:	Journal of intelligent & robotic systems Vol. 108; no. 4; p. 67
Main Authors:	Mancinelli, Alessandro, Remes, Bart D. W., De Croon, Guido C. H. E., Smeur, Ewoud J. J.
Format:	Journal Article
Language:	English
Published:	Dordrecht Springer Netherlands 01.08.2023 Springer Nature B.V
Subjects:	Actuators Aircraft configurations Algorithms Artificial Intelligence Control Effectiveness Electrical Engineering Engineering Fixed wings Flight tests Gusts Helicopters Hovering Linearization Mechanical Engineering Mechatronics Nonlinear control Optimization Oscillations Quadratic programming Real time Regular Paper Robotics Thrust vector control Tilting rotors Topical collection on ICUAS 2022 (U) Unmanned aerial vehicles Nonlinear actuators VTOL Tilt rotor Fully actuated vehicles INDI Hybrid MAV UAV Nonlinear programming Weighted least squares Quadratic programming Quad-plane Control allocation
ISSN:	0921-0296, 1573-0409
Online Access:	Get full text
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