	US 11,987,381 B2
	Method and control unit for controlling an overdetermined system, system and aircraft
Burak Yüksel, Mannheim (DE); and Johannes Stephan, Stuttgart (DE)
Assigned to Volocopter GmbH, Bruchsal (DE)
Filed by Volocopter GmbH, Bruchsal (DE)
Filed on Jan. 20, 2022, as Appl. No. 17/579,758.
Claims priority of application No. 102021102251.7 (DE), filed on Feb. 1, 2021.
Prior Publication US 2022/0250766 A1, Aug. 11, 2022
Int. Cl. B64D 45/00 (2006.01); B64D 31/12 (2006.01); G05D 1/00 (2024.01)

CPC B64D 45/0005 (2013.01) [B64D 31/12 (2013.01); G05D 1/102 (2013.01)]

20 Claims

1. A method for controlling an overdetermined system with multiple actuators, wherein the actuators perform a primary task and a non-primary task, the method comprising:

a) determining a pseudo-control command u_p∈^p′ based on a physical model of the overdetermined system,

b) determining a control matrix D, D∈ custom character

∈^p′×kaccording to u_p=Du, so that u₁=D⁻¹u_pu₁∈ custom character

^krepresents a control command for the actuators to perform the primary task,

c) projecting the non-primary task into a null space N(D) of the primary task, so that Du₂=0 if u₂u₂∈ custom character

^krepresents a control command for the actuators to perform the non-primary task, and

d) controlling the actuator using the control commands provided from b) and c).