A Design of the Thrust Vector Norm Minimization Control System for a 1-DoF Twin-Rotor Drone Model Using Adaptive Allocator

This paper proposed a thrust vector norm minimization control method for a twin-rotor drone model. The model represents a simple input-redundant drone that can operate two rotors for 1-DoF (DoF: Degree of Freedom) of motion. The proposed method adaptively minimizes the norm of the generated thrust vector even if the characteristics of each rotor are unknown. This is expected to achieve efficient control in terms of minimizing the energy consumption for thrust generation in the drone. The effectiveness of the proposed control system is demonstrated through numerical examples.