Abstract
A Coaxial push-pull multirotor is a Vertical Take-Off and Landing (VTOL) Unmanned Aerial Vehicle (UAV) having $2n$ ( $n \in \rm IN^*$ ) rotors arranged in $n$ blocks of two coaxial contra-rotating rotors. A model-based control allocation algorithm (mixer) for this architecture is proposed. The novelty of the approach lies in the fact that the coaxial aerodynamic interference occurring between the pairs of superimposed rotors is not neglected but rather nonlinear empiric models of the coaxial aerodynamic thrust and torque are used to build the mixer. Real flight experiments were conducted and the new approach showed promising results.
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