2025/10/09 by Mukwege, Frank, Nguyen, Tam Willy, Garone, Emanuele
#FOS: Electrical engineering #Systems and Control (eess.SY) #electronic engineering #information engineering
paper · doi:10.48550/arxiv.2510.08119
This study introduces a systematic and scalable method for arbitrary rigid-bodies equipped with vectorized thrusters. Two novel solutions are proposed: a closed-form, Lipschitz continuous mapping that ensures smooth actuator orientation references, and a convex optimization formulation capable of handling practical actuator constraints such as thrust saturation and angular rate limits. Both methods leverage the null-space structure of the allocation mapping to perform singularity avoidance while generating sub-optimal yet practical solutions. The effectiveness and generality of the proposed framework are demonstrated through numerical simulations on a 3DOF marine vessel and a 6DOF aerial quadcopter.