CBF-Based Control Allocation for Omnidirectional Tiltrotor Aerial Robots
Actively tilting aerial robots can generate six-dimensional wrenches, but slow servo response can make a desired wrench infeasible during reconfiguration.
ProofPaper ↗
Key points
- This paper develops a control barrier function (CBF) allocator that preserves wrench feasibility under bounded servo-configuration mismatch.
- An exact equivalent-wrench identity connects the thrust required at nominal and actual configurations.
- For a nonsingular six-channel allocation map, inverse allocation reduces robust wrench containment to twelve thrust margins tightened by an ellipsoidal reserve.
- A complementary MuJoCo study evaluates a measured-angle implementation against geometric, augmented differential, and normalized differential allocation in circular and cartwheel maneuvers, with and without disturbances.
Sources (1)
- [1]CBF-Based Control Allocation for Omnidirectional Tiltrotor Aerial RobotsarXiv (AI, ML, NLP, CV, robotics, multi-agent) · Oct 15, 03:22 PM
Actively tilting aerial robots can generate six-dimensional wrenches, but slow servo response can make a desired wrench infeasible during reconfiguration.
This paper develops a control barrier function (CBF) allocator that preserves wrench feasibility under bounded servo-configuration mismatch.
Extractive summary: sentences quoted from the sources.
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