@article {2019k-FurNaiZacFra,
	title = {Input Allocation for the Propeller-Based Overactuated Platform ROSPO},
	journal = {IEEE Trans. on Control Systems Technology},
	volume = {18},
	year = {2019},
	month = {11/2020},
	pages = {2720-2727},
	abstract = {We apply input allocation to a redundantly actu- ated platform driven by tilting aerodynamic propulsion units: the ROtor graSPing Omnidirectional (ROSPO). This platform represents a novel testbed for redundancy allocation designs in propeller driven platforms. The control solution is based on a hierarchical architecture, made of a high level controller for trajectory tracking, and a nonlinear input allocation algorithm. The algorithm exploits the input redundancy to take into account soft constraints associated to physical saturation limits of the actuators, and also induce reduced energy consumption. The actuator dynamics is fully taken into account in the framework and a rigorous proof of asymptotic tracking of time-varying references is guaranteed despite the impossibility of an instanta- neous force execution. The experiments on the ROSPO platform clearly show the practicability and effectiveness of the proposed approach, as well as its scalability with different degrees of over- actuation levels.},
	doi = {10.1109/TCST.2019.2944341},
	attachments = {https://homepages.laas.fr/afranchi/robotics/sites/default/files/2019k-FurNaiZacFra.pdf},
	author = {Michele Furci and Carlo Nainer and Luca Zaccarian and Antonio Franchi}
}
@conference {2017j-NaiFurSeuZacFra,
	title = {Hierarchical Control of the Over-Actuated ROSPO Platform via Static Input Allocation},
	booktitle = {20th IFAC World Congress},
	year = {2017},
	month = {07/2017},
	address = {Toulouse, France},
	abstract = {This paper addresses the problem of control allocation applied to an over-actuated hovercraft-type vehicle. A hierarchical control architecture, consisting of a high level controller for trajectory tracking, and a control allocation algorithm, is developed and proved to be effective in tracking a desired trajectory while optimizing some cost related to actuator constraints. The control allocation algorithm exploits the redundancy of the system in order to keep the actuator states inside their saturation limits and tries to minimize the power consumption of the propellers. Unlike other papers on control allocation, actuator dynamics is taken into account. The control architecture is tested through simulations that well illustrate the capabilities of the proposed control design},
	attachments = {https://homepages.laas.fr/afranchi/robotics/sites/default/files/2017j-NaiFurSeuZacFra-preprint.pdf},
	author = {Carlo Nainer and Michele Furci and Alexandre Seuret and Luca Zaccarian and Antonio Franchi}
}
