WCA: A New Efficient Nonlinear Adaptive Control Allocation for Planar Hexacopters

This paper presents an efficient control allocation (CA) strategy which significantly improves the flight performance of a planar hexacopter. maps desired vector v = [ T, L,M,N ]⟙ composed thrust and torques in roll, pitch, yaw axis, respectively, to propellers’ speed. shows that CA based on classical approach pseudo-inverse matrix only exploits limited range vehicle capabilities generate moments. A novel is presented, weighted method, called WCA, capable exploiting much larger domain v. The three weights involved WCA are adapted online according nonlinear laws analytically derived by solving symbolically equivalent constraint least-squares problem, thus removing need for online-optimization calculations. solution allows very fast real-time operations, suitable autopilots with computing resources. provides 1) detailed analysis limitations scheme, 2) mathematical development algorithm, 3) simulations real experiments show this outperforms terms a) capability maximum roll pitch possible, without generating undesired torques, b) prioritizing generation over attitude achieving better altitude tracking despite aggressive maneuvers or presence payload, c) behavior case actuator saturation, faults even failures.