Dynamic Pareto Allocation for Transition Phase of Over-Actuated Hybrid Quadplane

Tite: Dynamic Pareto Allocation for Transition Phase of Over-Actuated Hybrid Quadplane (DOI)
​​​​​​​Authors:  Javad Asghari; Morteza Tayefi.
Journal: IEEE Access
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Abstract: The transient flight phase of a Hybrid Quadplane poses a fundamental challenge due to the simultaneous operation of multirotor and fixed-wing actuators, resulting in a highly over-actuated configuration across all primary axes (pitching moment, upward force, and forward force). This redundancy necessitates an optimal control allocation scheme to ensure a smooth, stable, and energy-efficient hover-to-cruise transition. This paper introduces a novel Dynamic Pareto Allocation (DPA) framework to resolve this challenge. The framework’s novelty lies in its integration of a tractable multi-objective optimization process, where the computational complexity is significantly reduced by applying correlation analysis to an initial set of eleven objectives. This analysis isolates three independent, conflicting objectives that form the basis of the final Pareto front. The optimal blending rate is then systematically derived via consensus among the Weighted Sum, TOPSIS, and Ideal Point methods. Simulation results validate that the DPA successfully ensures a continuous and non-abrupt transfer of lift and moment authority from the quadrotor to the fixed-wing configuration, achieving a smooth transition while minimizing overall control effort.