Control Allocation of Bidirectional Thrust Quadrotor Subject to Actuator Constraints
Why this work is in the frame
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Bibliographic record
Abstract
In this paper, we work with a quadrotor vehicle capable of producing bidirectional thrust by reversing the rotation of its propellers. These vehicles have a number of unique functions, such as inverted hover, faster than gravity acceleration for descent and, generally, superior agility compared to their unidirectional conventional designs. However, thrust reversal presents a set of unique challenges for controlling these vehicles due to the particular transient dynamics of the propellers as they transition from positive to negative rotation. To deal with the limitations of bidirectional actuators, we propose an optimal control allocation strategy that produces the best match to the desired force and moments prescribed by the controller, while respecting the limits on actuator thrusts and their rate of change. The latter are identified through transient response characterization of the bidirectional propellers. The optimal allocation is evaluated in simulation for a half-flip maneuver between upright and inverted hover. Outdoor flight tests demonstrate the superior performance of the optimal solution as compared to direct inversion commonly used in flight controllers of quadrotors.
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Full frame distilled prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. Learned from the 10,348 direct Codex labels and 10,348 direct Gemma labels. Candidate is the union of thresholded teacher heads; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels or direct frontier model labels.
Codex and Gemma teacher scores by category
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.000 | 0.000 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.000 | 0.000 |
| Bibliometrics | 0.000 | 0.000 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.000 | 0.000 |
| Open science | 0.000 | 0.000 |
| Research integrity | 0.000 | 0.000 |
| Insufficient payload (model declined to judge) | 0.001 | 0.000 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from it