Aircraft control

An aircraft comprising:

• a first plurality of ducted fans;
• a second plurality of ducted fans;
• a processor;
• and
• memory storing computer code which, when executed on the processor, performs a method comprising:
• determining a net force and net moment to act on the aircraft;
• determining, for the first plurality of ducted fans, a first local force and first local moment allocation for providing a first contribution to the net force and the net moment;
• determining, for the second plurality of ducted fans, a second local force and second local moment allocation for providing a second contribution to the net force and the net moment;
• and
• controlling the first plurality of ducted fans according to the first local force and first local moment allocation;
• and
• controlling the second plurality of ducted fans according to the second local force and second local moment allocation.

A system comprising:

• a processor;
• and
• memory storing computer code which, when executed on the processor, performs a method, comprising:
• determining a net force and net moment to act on an aircraft;
• determining, for a first plurality of ducted fans, a first local force and first local moment allocation for providing a first contribution to the net force and the net moment;
• determining, for a second plurality of ducted fans, a second local force and second local moment allocation for providing a second contribution to the net force and net moment;
• and
• controlling the first plurality of ducted fans according to the first local force and first local moment allocation;
• and
• controlling the second plurality of ducted fans according to the second local force and second local moment allocation.