Systems and methods for control allocation for electric vertical take-off and landing aircraft

A system for controlling an electric aircraft, comprising:

• a plurality of electric propulsion units;
• a plurality of battery packs configured to power the plurality of electric propulsion units;
• and
• one or more hardware processors configured to perform steps including:
• receiving desired force and moment commands for the electric aircraft,
• monitoring energy states of the plurality of battery packs, wherein at least a first battery pack of the plurality of battery packs is electrically isolated from at least a second battery pack of the plurality of battery packs,
• determining control commands for the plurality of electric propulsion units based on the desired force and moment commands, wherein the determined control commands balance energy draw of the plurality of electric propulsion units according to the monitored energy states of the plurality of battery packs, and
• controlling the plurality of electric propulsion units according to the determined control commands.