Resolving Actuator Redundancy: Optimal Control vs. Control Allocation
2005 (English)In: Automatica, ISSN 0005-1098, Vol. 41, no 1, 137-144 p.Article in journal (Refereed) Published
This paper considers actuator redundancy management for a class of overactuated nonlinear systems. Two tools for distributing the control effort among a redundant set of actuators are optimal control design and control allocation. In this paper, we investigate the relationship between these two design tools when the performance indexes are quadratic in the control input. We show that for a particular class of nonlinear systems, they give exactly the same design freedom in distributing the control effort among the actuators. Linear quadratic optimal control is contained as a special case. A benefit of using a separate control allocator is that actuator constraints can be considered, which is illustrated with a flight control example.
Place, publisher, year, edition, pages
Elsevier, 2005. Vol. 41, no 1, 137-144 p.
Optimal control, Control allocation, Nonlinear systems, Input constraints, Quadratic programming, Flight control
IdentifiersURN: urn:nbn:se:liu:diva-23176DOI: 10.1016/j.automatica.2004.09.007Local ID: 2582OAI: oai:DiVA.org:liu-23176DiVA: diva2:243490