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

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.