Design of control allocation algorithms for overactuated aircraft under constraints using LMIs

Existing approaches to control allocation in. over-actuated aircraft under control input saturation may not yield a feasible solution with a chosen control input weighting matrix. In our previous work we addressed this problem by adaptive adjustment of the elements of the weighting matrix using the error between the controller output and the saturation bounds. However, such an approach does not generally minimize the total control effort, which may be an important requirement. For this reason, we in this paper address this problem using constrained optimization techniques and LMIs to explicitly calculate the optimal weighting matrix for the weighted pseudo-inverse control law. The properties of the resulting control allocation algorithms are illustrated through simulations of the F/A-18C/D aircraft.