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Dynamic Control Allocation using Constrained Quadratic Programming
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
2004 (English)In: Journal of Guidance Control and Dynamics, ISSN 0731-5090, Vol. 27, no 6, 1028-1034 p.Article in journal (Refereed) Published
Abstract [en]

Control allocation deals with the problem of distributing a given control demand among an available set of actuators. Most existing methods are static in the sense that the resulting control distribution depends only on the current control demand. In this paper we propose a method for dynamic control allocation, in which the resulting control distribution also depends on the distribution in the previous sampling instant. The method extends regular quadratic-programming control allocation by also penalizing the actuator rates. This leads to a frequency-dependent control distribution, which can be designed to, for example, account for different actuator bandwidths. The control allocation problem is posed as a constrained quadratic program, which provides automatic redistribution of the control effort when one actuator saturates in position or in rate. When no saturations occur, the resulting control distribution coincides with the control demand fed through a linear filter.

Place, publisher, year, edition, pages
American Institute of Aeronautics and Astronautics, 2004. Vol. 27, no 6, 1028-1034 p.
Keyword [en]
Control allocation, Aircraft control, Constrained control
National Category
Control Engineering
URN: urn:nbn:se:liu:diva-22503Local ID: 1753OAI: diva2:242816
Available from: 2009-10-07 Created: 2009-10-07 Last updated: 2013-07-17

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Härkegård, Ola
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Automatic ControlThe Institute of Technology
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