A New Method to Compute Generalized Inverses for Control Allocation

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Abstract

Modern mechatronic systems are often equipped with a set of redundant actuators due to different operating points and high reliability requirements. One possibility to deal with such systems incorporates a separation between the control task and the distribution of the control effort among the actuators (so-called control allocation). In case of a linear plant model a factorization of the input matrix has to be carried out. The relationship between factorizations can be described by means of invertible transformation matrices. This work investigates the impact of factorization on the computation of generalized inverses and their usage for control allocation. Based on these results a new method for generating generalized inverses, which allow a more effective usage of the available actuators, is developed.
Originalspracheenglisch
TitelProceedings of the 55th IEEE Conference on Decision and Control
Herausgeber (Verlag)Institute of Electrical and Electronics Engineers
Seiten5328-5334
Seitenumfang7
ISBN (elektronisch)978-1-5090-1837-6
DOIs
PublikationsstatusVeröffentlicht - 2016
Veranstaltung 55th IEEE Conference on Decision and Control - ARIA Resort & Casino, Las Vegas, USA / Vereinigte Staaten
Dauer: 12 Dez 201614 Dez 2016
http://cdc2016.ieeecss.org/

Konferenz

Konferenz 55th IEEE Conference on Decision and Control
Land/GebietUSA / Vereinigte Staaten
OrtLas Vegas
Zeitraum12/12/1614/12/16
Internetadresse

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