This paper presents a new flight control framework for tilt-rotor multirotor uncrewed aerial vehicles (MRUAVs). Tiltrotor designs offer full actuation but introduce complexity in control allocation due to actuator redundancy. We propose a new approach where the allocator is tightly coupled with the controller, ensuring that the control signals generated by the controller are feasible within the vehicle actuation space. We leverage nonlinear model predictive control (NMPC) to implement the above framework, providing feasible control signals and optimizing performance. This unified control structure simultaneously manages both position and attitude, which eliminates the need for cascaded position and attitude control loops. Extensive numerical experiments demonstrate that our approach significantly outperforms conventional techniques that are based on linear quadratic regulator (LQR) and sliding mode control (SMC), especially in high-acceleration trajectories and disturbance rejection scenarios, making the proposed approach a viable option for enhanced control precision and robustness, particularly in challenging missions.

翻译：本文提出了一种用于倾转旋翼多旋翼无人飞行器的新型飞行控制框架。倾转旋翼设计提供了全驱动能力，但由于执行器冗余，在控制分配方面引入了复杂性。我们提出了一种新方法，将分配器与控制器紧密耦合，确保控制器生成的控制信号在飞行器驱动空间内是可行的。我们利用非线性模型预测控制来实现上述框架，提供可行的控制信号并优化性能。这种统一控制结构同时管理位置和姿态，从而消除了对级联位置和姿态控制回路的需求。大量的数值实验表明，我们的方法显著优于基于线性二次调节器和滑模控制的传统技术，特别是在高加速度轨迹和扰动抑制场景中，使得所提出的方法成为提高控制精度和鲁棒性的可行选择，尤其是在具有挑战性的任务中。