Evaluation of the Control Allocation Methods for DEP-VTOL Aircraft

The distributed electric propulsion (DEP) system using electric power to drive multiple propulsors is a disruptive technology because of its great potential in improving aerodynamic efficiency, environmental protection, and reliability. For a UAV equipped with a DEP system, a safe and effective control allocation has always been a key problem. This paper builds a small-size hexacopter driven by six asymmetrical electronic propellers as the prototype of DEP aircraft. Four different control allocation methods are realized and evaluated for the aircraft. The allocation performance and time cost associated with these methods are compared by both the numerical simulation and physical experiments on a single-axis rotary platform.