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.
LIU Chunsheng JIANG Bin
College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, P.R.China
国际会议
The 30th Chinese Control Conference(第三十届中国控制会议)
烟台
英文
1-5
2011-07-01（万方平台首次上网日期，不代表论文的发表时间）