Resolving actuator redundancy-optimal control vs. control allocation

Authors:
Ola HäRkegåRd;S. Torkel Glad
Affiliations:
Division of Automatic Control, Department of Electrical Engineering, Linköping University, SE-581 83 Linköping, Sweden;Division of Automatic Control, Department of Electrical Engineering, Linköping University, SE-581 83 Linköping, Sweden
Venue:
Automatica (Journal of IFAC)
Year:
2005

Citing 0
Cited 11

Brief paper: Fault tolerant control using sliding modes with on-line control allocation

Automatica (Journal of IFAC)
Brief paper: Dynamic allocation for input redundant control systems

Automatica (Journal of IFAC)
Brief paper: Sliding mode estimation schemes for incipient sensor faults

Automatica (Journal of IFAC)
Propulsion control of a large civil aircraft using on-line control allocation

ACC'09 Proceedings of the 2009 conference on American Control Conference
Robust fault-tolerant control using on-line control re-allocation with application to aircraft

ACC'09 Proceedings of the 2009 conference on American Control Conference
On the effects of redundant control inputs

Automatica (Journal of IFAC)
Fault Tolerant Control of Aircraft Actuating Surfaces using Generalized DI and Integral SM Control

Journal of Intelligent and Robotic Systems
A fault tolerant control allocation scheme with output integral sliding modes

Automatica (Journal of IFAC)
Adaptive output feedback control using fault compensation and fault estimation for linear system with actuator failure

International Journal of Automation and Computing
A Review on Fault Diagnosis and Fault Tolerant Control Methods for Single-rotor Aerial Vehicles

Journal of Intelligent and Robotic Systems
On the effect of additional input channels on the achievable performance of discrete-time control systems

Automatica (Journal of IFAC)

Quantified Score

Hi-index	22.16

Visualization

Abstract

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.