Reconfigurable direct control allocation for overactuated systems

IFAC Proceedings Volumes (IFAC-PapersOnline)

Volumn 44, Issue 1 PART 1, 2011, Pages 4696-4700

  Demenkov, Max ^a  

^a TRAPEZNIKOV INSTITUTE OF CONTROL SCIENCES   (Russian Federation)

Author keywords

Control allocation; Control constraints; Fault tolerant control; Polyhedral functions

Indexed keywords

LYAPUNOV FUNCTIONS;

CONSTRAINED CONTROLS; CONTROL ALLOCATION; CONTROL CONSTRAINT; DIMENSIONAL CONTROL; FAULT TOLERANT CONTROL; LINEAR RELATIONSHIPS; OVERACTUATED SYSTEMS; POLYHEDRAL LYAPUNOV FUNCTIONS;

ACTUATORS;

EID: 84866745386     PISSN: 14746670     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.3182/20110828-6-IT-1002.03790     Document Type: Conference Paper

References (29)

1. Blanchini, F. (1995). Non-quadratic lyapunov function for robust control. Automatica, 31, 451-461.
2. Blanchini, F. and Miani, S. (2008). Set-theoretic methods in control. Birkhäuser, Boston.
3. Bodson, M. (2002). Evaluation of optimization methods for control allocation. Journal of Guidance, Control, and Dynamics, 25(4), 703-711.
4. Cameron, D. and Princen, N. (2000). Control allocation challenges and requirements for the blended wing body. In AIAA Guidance, Navigation and Control Conference Proceedings. Denver, Colorado. AIAA Paper 2000-4539.
5. Casavola, A. and Garone, E. (2007). Adaptive fault tolerant actuator allocation for overactuated plants. In Proceedings of the American Control Conference. New York, USA.
6. Dantzig, G. (1966). Linear programming and extensions. Princeton University Press, Princeton.
7. Demenkov, M. (2007). Interval bisection method for control allocation. In Proceedings of the 17th IFAC Symposium on Automatic Control in Aerospace. Toulouse, France.
8. Demenkov, M. (2008). Geometric algorithms for input constrained systems with application to flight control. Ph.D. thesis, De Montfort University, UK.
9. Doman, D. and Ngo, A. (2002). Dynamic inversion-based adaptive/reconfigurable control of the x-33 on ascent. Journal of Guidance, Control, and Dynamics, 25(2), 275-284.
10. Doman, D. and Oppenheimer, M. (2002). Improving control allocation accuracy for nonlinear aircraft dynamics. In AIAA Guidance, Navigation and Control Conference Proceedings.Monterey, California. AIAA Paper 2002-4667.
11. Durham,W. (1993). Constrained control allocation. Journal of Guidance, Control, and Dynamics, 16(4), 717-725.
12. Durham, W. (1994). Constrained control allocation: threemoment problem. Journal of Guidance, Control, and Dynamics, 17(2), 330-336.
13. Durham, W. (1999). Efficient, near-optimal control allocation. Journal of Guidance, Control, and Dynamics, 22(2), 369-372.
14. Fossen, T., Johansen, T., and Perez, T. (2009). A survey of control allocation methods for underwater vehicles. In A. Inzartsev (ed.), Intelligent Underwater Vehicles. I-Tech Education and Publishing, Vienna.
15. Harkegard, O. and Glad, T. (2005). Resolving actuator redundancy - optimal control vs. control allocation. Automatica, 41, 137-144.
16. Johansen, T., Fossen, T., and Tondel, P. (2005). Efficient optimal constrained control allocation via multiparametric programming. Journal of Guidance, Control, and Dynamics, 28(3), 506-515.
17. Laine, L. and Fredriksson, J. (2008). Traction and braking of hybrid electric vehicles using control allocation. International Journal of Vehicle Design, 48(3-4), 271-298.
18. Lee, H., Lee, D., Bang, H., and Tahk, M. (2007). Singularity avoidance law for CMG using virtual actuator. In Proceedings of 17th IFAC Symposium on Automatic Control in Aerospace. Toulouse, France.
19. McMullen, P. and Shepard, G. (1971). Convex polytopes and the upper bound conjecture. Cambridge University Press, Cambridge.
20. Pechev, A. (2008). Inverse kinematics without matrix inversion. In Proceedings of IEEE International Conference on Robotics and Automation. Pasadena, CA, USA.
21. Petersen, J. and Bodson, M. (2002). Fast implementation of direct allocation with extension to coplanar controls. Journal of Guidance, Control, and Dynamics, 25(3), 464-473.
22. Plumlee, J., Bevly, D., and Hodel, A. (2004). Control of a ground vehicle using quadratic programming based control allocation techniques. In Proceedings of the American Control Conference. Boston, Massachusetts, USA.
23. Pulecchi, T. and Lovera, M. (2007). Attitude control of spacecraft with partially magnetic actuation. In Proceedings of 17th IFAC Symposium on Automatic Control in Aerospace. Toulouse, France.
24. Schofield, B. and Hagglund, T. (2008). Optimal control allocation in vehicle dynamics control for rollover mitigation. In Proceedings of the American Control Conference. Seattle, Washington, USA.
25. Spjtvold, J. and Johansen, T. (2009). Fault tolerant control allocation for a thruster-controlled floating platform using parametric programming. In Proceedings of the 48th IEEE Conference on Decision and Control held jointly with the 2009 28th Chinese Control Conference. Shanghai, China.
26. Thieuw, A. and Marcille, H. (2007). Pleiades-HR CMGsbased attitude control system design, development status and performances. In Proceedings of 17th IFAC Symposium on Automatic Control in Aerospace. Toulouse, France.
27. Tjonnas, J. and Johansen, T. (2008). Adaptive control allocation. Automatica, 44, 2754-2765.
28. Tondel, P. and Johansen, T. (2005). Control allocation for yaw stabilization in automotive vehicles using multiparametric nonlinear programming. In Proceedings of the American Control Conference. Portland, Oregon, USA.
29. Ziegler, G. (1995). Lectures on Polytopes, volume 152 of Graduate Texts in Mathematics. Springer-Verlag, New York.