Control Allocation under Actuator Saturation: An Experimental Evaluation

Publikation: Beitrag in Buch/Bericht/KonferenzbandBeitrag in einem KonferenzbandForschungBegutachtung

Abstract

This paper focuses on the comparison of control allocation (CA) techniques based on their application to a laboratory setup which emulates the rotational dynamics of a quadrotor. CA is an intermediate layer between controller and actuators which distributes the overall control effort in case of input redundancy. The CA algorithms Weighted Pseudoinverse, Redistributed Pseudoinverse, Enhanced Redistributed Pseudoinverse, Direct Allocation, Normalized Generalized Inverse, and Weighted Least Squares are briefly outlined and compared to each other. They are used to map the virtual torques generated by a second order sliding mode controller to the real actuators. Since in a real world application actuator power is always limited the performance of the methods in situations with multiple active constraints is investigated.
Originalspracheenglisch
TitelIFAC-PapersOnLine
UntertitelProceedings of the 9th IFAC Symposium on Robust Control Design ROCOND 2018
Seiten48-54
DOIs
PublikationsstatusVeröffentlicht - 2018
VeranstaltungJoint 9th IFAC Symposium on Robust Control Design and 2nd IFAC Workshop on Linear Parameter Varying Systems - Florianòpolis, Brasilien
Dauer: 3 Sep 20185 Sep 2018

Konferenz

KonferenzJoint 9th IFAC Symposium on Robust Control Design and 2nd IFAC Workshop on Linear Parameter Varying Systems
KurztitelJoint ROCOND18 and LPVS18
LandBrasilien
OrtFlorianòpolis
Zeitraum3/09/185/09/18

    Fingerprint

Dieses zitieren

Kirchengast, M., Steinberger, M., & Horn, M. (2018). Control Allocation under Actuator Saturation: An Experimental Evaluation. in IFAC-PapersOnLine: Proceedings of the 9th IFAC Symposium on Robust Control Design ROCOND 2018 (S. 48-54) https://doi.org/10.1016/j.ifacol.2018.11.080