Prioritized Control Allocation for Quadrotors Subject to Saturation

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This paper deals with the problem of actuator saturation for INDI (Incremental Nonlinear Dynamic Inversion) controlled flying vehicles. The primary problem that arises from actuator saturation for quadrotors, is that of arbitrary control objective realization. We have integrated the weighted least squares control allocation algorithm into INDI, which allows for prioritization between roll, pitch, yaw and thrust. We propose that for a quadrotor, the highest priority should go to pitch and roll, then thrust, and then yaw. Through an experiment, we show that through this method, and the appropriate prioritization, errors in roll and pitch are greatly reduced when applying large yaw moments. Ultimately, this leads to increased stability and robustness.
Original languageEnglish
Title of host publicationInternational Micro Air Vehicle Conference and Flight Competition 2017
EditorsH. de Plinval J.-M. Moschetta G. Hattenberger
Place of PublicationToulouse, France
Number of pages7
Publication statusPublished - 18 Sep 2017
Event9th international micro air vehicles: Conference and flight competition - Toulouse, France
Duration: 18 Sep 201721 Sep 2017
Conference number: 9


Conference9th international micro air vehicles
Abbreviated titleIMAV 2017
Internet address


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