Robust control allocation method in the presence of control effector failure

Traditional control allocation technology may introduce large control output error when the control effectiveness model has uncertainties. This paper demonstrates a new robust control allocation method in the presence of partial or total loss of control effectors. Under the condition that the fault magnitude information is not identified precisely, the robust control allocation method considers the uncertainty in the control effectiveness model and outputs the solution with the minimal virtual control error in the worst case. The robust control allocation problem can be cast into a second order conic programming problem, which can be solved by primal dual interior point method. The paper will investigate the performance of the robust control allocation method by comparing the numerical simulation results with other known control allocation methods.