Disturbance Rejection and Control Allocation of Over-Actuated systems H

This paper presents the development and application of two approaches to control allocation for an over-actuated system. These approaches considered the effect of disturbance acting on the system through an H_infin controller designed using LMIs. The approach minimizes weighted norm of control input to distribute control effort and also takes into account of actuator saturation. The design 2 has an adaptive weight updating algorithm, while determining the weighted-pseudo inverse allocation, avoids the control input saturation for all attainable control demands. The proposed design and algorithms are demonstrated with an eight actuator model of a satellite launch vehicle.