Hierarchical Control of the Over-Actuated ROSPO Platform via Static Input Allocation
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DOI: 10.1016/j.ifacol.2017.08.2260
Abstract: This paper addresses the problem of control allocation applied to an over-actuated hovercraft-type vehicle. A hierarchical control architecture, consisting of a high level controller for trajectory tracking, and a control allocation algorithm, is developed and… read more here.
Keywords: control allocation; control; control actuated; hierarchical control ... See more keywords