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Tracking position and orientation independently affords more agile maneuverfor over-actuated multirotor Unmanned Aerial Vehicles (UAVs) while introducingundesired downwash effects; downwash flows generated by thrust generators maycounteract others due to close proximity, which significantly threatens thestability of the platform. The complexity of modeling aerodynamic airflowchallenges control algorithms from properly compensating for such a sideeffect. Leveraging the input redundancies in over-actuated UAVs, we tackle thisissue with a novel control allocation framework that considers downwash effectsand explores the entire allocation space for an optimal solution. This optimalsolution avoids downwash effects while providing high thrust efficiency withinthe hardware constraints. To the best of our knowledge, ours is the firstformal derivation to investigate the downwash effects on over-actuated UAVs. Weverify our framework on different hardware configurations in both simulationand experiment.

Downwash-aware Control Allocation for Over-actuated UAV Platforms