Dr. Guillaume Ducard - UAV Projects and Videos
From Theory to Practice
  1. Home & Contact
  2. Biography
  3. Research
  4. Publications
  5. Teaching
  6. Responsabilities
  7. UAV Projects & Videos

2022-23 - New Efficient Nonlinear Adaptive Control Allocation for Hexacopter UAVs : the WCA method.

G. Ducard, M.D. Hua, "WCA: A New Efficient Nonlinear Adaptive Control Allocation for Planar Hexacopters," In journal IEEE Access, 35 pages, pp. 37714 - 37748, March 2023. https://doi.org/10.1109/ACCESS.2023.3261240

Video 1 : the video below shows how the classical control allocation method based on the Moore Penrose pseudo-inverse matrix can result to a crash of a hexacopter (2022).




Video 2 : the video below shows a comparison between flight performance of a hexacopter hovering and yawing on spot, between the WCA allocation method and the classical allocation method (CCA = Moore-Penrose Pseudo-inverse). The altitude jumps of CCA go up to 15 cm, whereas the maximum altitude difference produced with WCA is around 5 cm. Therefore, the WCA approach provides a significant improvement of about 3 times better altitude tracking compared to the CCA method, which is the commonly-used allocation approach.




Video 3 : the video below shows some agressive attitude maneuvers. The hexacopter is hovering and changing agressively its attitude. Thanks to the newly developed WCA control allocation method, there is almost no altitude change during the high turn-rates maneuvers. The vehicle can also translate at high-horizontal speed without any change of altitude. (due to some unknown bug, the video below starts at t=9s).

Advanced Control Allocation for Multi-rotor Helicopters based on Parametric Programming


The video below shows the effectiveness of the developped control allocator [1] to cope with up to two motor failures on an hexacopter.





[1] T. Schneider, G. Ducard, K. Rudin, P. Strupler, "Fault-tolerant Control Allocation for Multirotor Helicopters Using Parametric Programming," International Micro Air Vehicle Conference and Flight Competition, Braunschweig, Germany, July 2012

Laboratoire d'Informatique, Signaux et Systèmes (I3S) de Sophia-Antipolis - UNS - CNRS
2000, route des Lucioles - Les Algorithmes - bât. Euclide B - BP 121 - 06903 Sophia Antipolis Cedex - France
Tél. +33 4 92 94 27 01 - Fax : +33 4 92 94 28 98 - www.i3s.unice.fr

Book releases

ISBN : 978-1-84882-560-4 ISBN : 978-7-118-07723-0 ISBN : 978-90-481-9706-4


Paper Download

arrow.png Find and download most of my scientific papers on Research Gate.