Title :
Novel adaptive control allocation in overactuated system using quadratic programming
Author :
Liu Chunsheng ; Jiang Bin
Author_Institution :
Coll. of Autom. Eng., Nanjing Univ. of Aeronaut. & Astronaut., Nanjing, China
Abstract :
This paper presents an adaptive control allocation technique for a general class of overactuated systems. The derived control effectiveness matrix is in the form of a dynamic update law. Quadratic programming method is used to distribute the control effort among a redundant set of actuators. The scheme proposed enables reconfiguration control on-line in the presence of actuator failures, while the controller keeps being unchanged. Its main features are demonstrated by a simulation example.
Keywords :
actuators; adaptive control; failure analysis; matrix algebra; quadratic programming; actuator failures; adaptive control allocation technique; control effectiveness matrix; dynamic update law; overactuated system; quadratic programming; reconfiguration control; Actuators; Adaptive control; Aerospace control; Fault tolerance; Fault tolerant systems; Quadratic programming; Resource management; Adaptive control allocation; Fault tolerant; Over actuated system; Quadratic programming;
Conference_Titel :
Control Conference (CCC), 2011 30th Chinese
Conference_Location :
Yantai
Print_ISBN :
978-1-4577-0677-6
Electronic_ISBN :
1934-1768
