In this paper, means of consolidated analysis are presented for control allocation algorithms. Control allocation algorithms solve the problem of computing the control vector given the pseudo control vector. A large variety of algorithms exist such as pseudo inverse based, linear programming based or direct allocation algorithms. In order to choose the appropriate one for each individual application, a thorough investigation is necessary. In the case of systems with redundant actuators a systematic analysis of actuator failures must be performed. This paper introduces a novel approach of generating the distribution of certain performance metrics among all failure cases. The system on which the control allocation was tested is an eVTOL aircraft with twelve propellers.     «

In this paper, means of consolidated analysis are presented for control allocation algorithms. Control allocation algorithms solve the problem of computing the control vector given the pseudo control vector. A large variety of algorithms exist such as pseudo inverse based, linear programming based or direct allocation algorithms. In order to choose the appropriate one for each individual application, a thorough investigation is necessary. In the case of systems with redundant actuators a systema...     »