liu.seSearch for publications in DiVA
Change search
ReferencesLink to record
Permanent link

Direct link
Resolving Actuator Redundancy - Control Allocation vs. Linear Quadratic Control
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
2004 (English)Report (Other academic)
Abstract [en]

When designing control laws for systems with more inputs than controlled variables, one issue to consider is how to deal with actuator redundancy. Two tools for distributing the control effort among a redundant set of actuators are control allocation and linear quadratic control design. In this paper, we investigate the relationship between these two design tools when a quadratic performance index is used for control allocation. We show that for a particular class of linear systems, they give exactly the same design freedom in distributing the control effort among the actuators. The main 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
Linköping: Linköping University Electronic Press, 2004. , 8 p.
LiTH-ISY-R, ISSN 1400-3902 ; 2593
Keyword [en]
Linear quadratic control, Control allocation, Constrained control
National Category
Control Engineering
URN: urn:nbn:se:liu:diva-55977ISRN: LiTH-ISY-R-2593OAI: diva2:316758
Available from: 2010-04-30 Created: 2010-04-30 Last updated: 2014-08-13Bibliographically approved

Open Access in DiVA

fulltext(139 kB)95 downloads
File information
File name FULLTEXT01.pdfFile size 139 kBChecksum SHA-512
Type fulltextMimetype application/pdf

Search in DiVA

By author/editor
Härkegård, Ola
By organisation
Automatic ControlThe Institute of Technology
Control Engineering

Search outside of DiVA

GoogleGoogle Scholar
Total: 95 downloads
The number of downloads is the sum of all downloads of full texts. It may include eg previous versions that are now no longer available

Total: 43 hits
ReferencesLink to record
Permanent link

Direct link