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On the control allocation of fully-actuated and over-actuated multirotor UAVs

Werink, Rens (2019) On the control allocation of fully-actuated and over-actuated multirotor UAVs.

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Abstract:This thesis presents an investigation into the current state of control allocation in current research and control software. From a literature survey of the application of control allocation, it was concluded that there was room for a new control allocation algorithm that would work with UAVs with coupled tilting propellers. This algorithm was created and tested using a simulation. Furthermore, this thesis presents an investigation into the current implementation of control allocation in publically available software packages. From this investigation, improvement points were found and partially implemented into the software.
Item Type:Essay (Master)
Faculty:EEMCS: Electrical Engineering, Mathematics and Computer Science
Subject:31 mathematics, 50 technical science in general, 54 computer science
Programme:Systems and Control MSc (60359)
Link to this item:http://purl.utwente.nl/essays/77102
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