Novel adaptive control allocation in overactuated system using quadratic programming

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.