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Dynamic Control Allocation for a Twin Ducted Fan UAV

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Advances in Guidance, Navigation and Control

Part of the book series: Lecture Notes in Electrical Engineering ((LNEE,volume 644))

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Abstract

Twin ducted fan UAV is a novel aircraft with redundant control effectors and the interactions between actuators and control allocators can not be ignored. In this paper, dynamic control allocation is used to deal with the control allocation problem of Twin ducted fan UAV. First, the actuator rate is penalized in the optimization function of the control allocation based on the quadratic programming method. Second, a post-compensation method is applied to compensate for command increment attenuation. The simulation results show that the dynamic control allocation method with actuator dynamic compensation can prevent the high bandwidth actuator from saturating in advance, and the virtual control command is effectively allocated to actuators with different bandwidths.

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Acknowledgements

This work was supported by Scientific Instruments Development Program of NSFC [615278010], Science and Technology Planning Project of Guangdong, China [2017B010116005].

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Authors and Affiliations

  1. Key Laboratory of Autonomous Systems and Networked Control, Ministry of Education, Unmanned Aerial Vehicle Systems Engineering Technology Research Center of Guangdong, South China University of Technology, Guangzhou, 510640, China

    Chaoheng Meng, Hailong Pei & Zihuan Cheng

Authors
  1. Chaoheng Meng
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  2. Hailong Pei
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  3. Zihuan Cheng
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Corresponding author

Correspondence to Hailong Pei .

Editor information

Editors and Affiliations

  1. Beihang University, Beijing, China

    Liang Yan

  2. Beihang University, Beijing, China

    Haibin Duan

  3. Beihang University, Beijing, China

    Xiang Yu

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© 2022 The Editor(s) (if applicable) and The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

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Meng, C., Pei, H., Cheng, Z. (2022). Dynamic Control Allocation for a Twin Ducted Fan UAV. In: Yan, L., Duan, H., Yu, X. (eds) Advances in Guidance, Navigation and Control . Lecture Notes in Electrical Engineering, vol 644. Springer, Singapore. https://doi.org/10.1007/978-981-15-8155-7_462

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