Robust control allocation of redundantly actuated variable structure systems

This paper proposes new robust control allocation method of redundantly actuated variable structure systems. The original system is divided into two subsystems by factorizing the input matrix. Then all system uncertainties can be treated with the virtual control input. The control strategy has two steps. At the first step the virtual control input is found with sliding mode control with perturbation estimation method (SMCPE) considering system uncertainties then at the second step the real control input is calculated by using the Quadratic Optimization method. The simulation is conducted with the redundantly actuated leg-wheel hybrid structures which have 4 actuators and 3DOFs. The state-space model is derived from the dynamic equation with kinematic and dynamic constraints. The effect of kinematic error is also studied.