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. This allocation maps the desired control vector composed of the thrust and torques in roll, pitch, and yaw axis, respectively, to propellers’ speed...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
| Published: |
IEEE
2023-01-01
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| Series: | IEEE Access |
| Subjects: | |
| Online Access: | https://ieeexplore.ieee.org/document/10078878/ |