公开(公告)号：US20220244744A1

公开(公告)日：2022-08-04

申请号：US17588629

申请日：2022-01-31

Applicant: Digital Aerolus, Inc.

Inventor： Jeffery J. Alholm ,  John C. Blessing ,  Jacob B. Davisson ,  Steven R. Lautenschlager ,  Thomas D. Williams

IPC: G05D1/08 ,  G05D1/10 ,  B64C39/02

Abstract: A vehicle and method of control comprising generating a geometric control envelope in a geometric space of operation points defined by a number of control aspects, the envelope having vertices representing maximum values of the control aspects, and determining a desired operation point in the geometric space representing a control input. Further, the method includes if the desired operation point is outside the envelope, scaling up a first one of the control aspects by a first factor, determining an effective operation point in the envelope geometrically closest to the desired operation point, scaling down all of the control aspects by a second factor inverse of the first factor, and instructing the propulsion mechanisms to propel the vehicle according to the effective operation point.