## Falcon

Table 1. Some actuator configurations found in practice

Actuator allocation is a linear connection between the space of actuator forces (described with vector tl) and the space of vehicle's forces and moments (described with vector t). The matrix which describes this link is called the allocation matrix and it depends on the number of available actuators and their topology. Table 1. gives some topologies and actuator allocations which can be found in real vehicles.

### 2.3 UV kinematics

Kinematic model gives the relation between the speeds v in a body-fixed coordinate frame {B} and first derivatives of positions and angles q in an Earth-fixed coordinate system {E}. A full set of kinematic equations is given with (2).

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