Resolving Actuator Redundancy - Control Allocation vs. Linear Quadratic Control
2003 (English)In: Proceedings of the 2003 European Control Conference, 2003Conference paper (Refereed)
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
Linear quadratic control, Control allocation, Constrained control
IdentifiersURN: urn:nbn:se:liu:diva-90848OAI: oai:DiVA.org:liu-90848DiVA: diva2:615418
2003 European Control Conference, Cambridge, United Kingdom, September, 2003