This paper focuses on dynamic control allocation for a hexarotor UAV platform, considering a trajectory tracking task as as case study. It is assumed that the platform is dual-tilting, meaning that it is able to tilt each propeller independently during flight, along two orthogonal axis. We present a hierarchical control structure composed of a high-level controller generating the required wrench for the tracking task, and a control allocation law ensuring that the actuators produce such wrench. The allocator imposes desired first-order dynamics on the actuators set, and exploits system redundancy to optimize the actuators state with respect to a given objective function. Unlike other studies on the subject, we explicitly model actuator saturation and provide theoretical insights on its effect on control performances. We also investigate the role of propeller tilt angles, by imposing asymmetric shapes in the objective function. Numerical simulations are presented to validate the allocation strategy.

翻译：本文聚焦于六旋翼无人机平台的动态控制分配问题，并以轨迹跟踪任务作为案例研究。假设该平台具备双倾斜能力，即能够在飞行过程中沿两个正交轴独立倾斜每个螺旋桨。我们提出一种分层控制架构，包括生成跟踪任务所需力旋量的高层控制器，以及确保执行器产生该力旋量的控制分配律。该分配器对执行器组施加期望的一阶动力学特性，并利用系统冗余度，针对给定目标函数优化执行器状态。与同类研究不同，我们显式地建模了执行器饱和，并提供了其与控制性能之间关系的理论洞见。我们还通过在目标函数中施加非对称形状，研究了螺旋桨倾斜角的作用。通过数值仿真验证了该分配策略的有效性。