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Differential Realizability of Static Control Allocation in Multirotors: An Impossibility under Nonredundant Full Actuation and a Pseudoinverse Obstruction under Redundant Actuation
Control allocation for multirotors with bidirectional propellers is commonly formulated in signed-thrust variables, where the wrench map is linear. The signed-quadratic map from physical rotor speed to thrust, however, is not a local diffeomorphism at zero speed. This work derives two distinct conse
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