Nonlinear Control Allocation for Interacting Control Effectors using Bivariate Taylor Expansion

2018 ◽  
Author(s):  
Jahanzeb Rajput ◽  
Qu Xiaobo ◽  
Hafiz Zeeshan Iqbal Khan
Keyword(s):  
Nonlinear Control ◽  
Taylor Expansion ◽  
Control Allocation

Study of the Influence of a Nonlinear Control Allocation Frequency Variation on a Quadrotor Tilt-Rotor Aircraft Stability

2021 ◽  
Author(s):  
Murillo Ferreira dos Santos ◽  
Paolo Mercorelli ◽  
Leonardo de Mello Honório ◽  
Mathaus Ferreira da Silva ◽  
Vinícius Ferreira Vidal
Keyword(s):  
Nonlinear Control ◽  
Virtual Environment ◽  
Frequency Variation ◽  
Stability Conditions ◽  
Control Allocation ◽  
Control Loop ◽  
Tilt Rotor

This paper presents a study on the influence of the frequency variation of a nonlinear1 control allocation technique execution, developed by the author [1], named by Fast Control2 Allocation (FCA) for the Quadrotor Tilt-Rotor (QTR) aircraft. Then, through Software In The3 Loop (SITL) simulation, the proposed work considers the use of Gazebo, QGroundControl, and4 Matlab applications, where different frequencies of the FCA can be implemented separated in5 Matlab, always analyzing the QTR stability conditions from the virtual environment performed in6 Gazebo. TheresultsshowedthattheFCAneedsatleast200HzoffrequencyfortheQTRsafeflight7 conditions, i. e., 2 times smaller than the main control loop frequency, 400 Hz. Lower frequencies8 than this one would case instability or crashes during the QTR Operation.

Globally Set-Stable Nonlinear Control Allocation for Aircraft with Multiple Control Effectors

2012 ◽  
Vol 11 (1) ◽  
pp. 385-389
Author(s):  
Heng Li ◽  
Jinyong Yu ◽  
Youan Zhang ◽  
Yinsheng Wu
Keyword(s):  
Nonlinear Control ◽  
Control Allocation ◽  
Multiple Control
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