Thrust vectoring system and process for use with unmanned aerial vehicles

A method for controlling a thrust vectored aircraft, the thrust vectored aircraft being implemented with one or more tiltable thrusting motors, the method comprising:

• receiving and/or generating aircraft control commands that comprise a roll moment, a pitch moment, a yaw moment, a longitudinal force, a lateral force, and a vertical force representing six degrees-of-freedom of an aircraft body;
• mapping aircraft the control commands with a flight controller through the following transformations:
• transforming, with the flight controller, a command space, which comprises the aircraft control commands that include a force command and a moment command, into an inner-mixing space, which comprises at least a pair of two orthogonal force components located at each of the one or more tiltable thrusting motors;
• transforming, with the flight controller, the inner-mixing space into an outer-mixing space, which comprises a thrust angle and thrust magnitude pair located at each of the one or more tiltable thrusting motors;
• generating output commands with the flight controller to the one or more tiltable thrusting motors;
• and
• generating a feasible output that the one or more tiltable thrusting motors can actuate such that the transforming the inner-mixing space into the outer-mixing space is constrained such that the output commands remain within feasible limits of the one or more tiltable thrusting motors.

An aircraft system configured to control a thrust vectored aircraft, the thrust vectored aircraft being implemented with one or more tiltable thrusting motors, the aircraft system comprising:

• a flight controller configured to receive and/or generate aircraft control commands that comprise a roll moment, a pitch moment, a yaw moment, a longitudinal force, a lateral force, and a vertical force representing six degrees-of-freedom of an aircraft body;
• the flight controller further configured to map aircraft the control commands through the following transformations:
• the flight controller further configured to transform from a command space, which comprises the aircraft control commands that include a force command and a moment command, into an inner-mixing space, which comprises at least a pair of two orthogonal force components located at each of the one or more tiltable thrusting motors;
• the flight controller further configured to transform the inner-mixing space into an outer-mixing space, which comprises a thrust angle and thrust magnitude pair located at each of the one or more tiltable thrusting motors;
• and
• the flight controller further configured to generate output commands to the one or more tiltable thrusting motors,
• wherein the flight controller is further configured to transform the outer-mixing space into an output command space, which comprises a thrust angle and a thrust magnitude pair accounting for nonlinearities of thrust control.