A Fast Quadratic Program Solver for Constrained Control Allocation

Martin Kirchengast; Martin Steinberger; Martin Horn

doi:10.1109/CDC.2018.8619828

A Fast Quadratic Program Solver for Constrained Control Allocation

Martin Kirchengast, Martin Steinberger, Martin Horn

Institute of Automation and Control (4430)

Research output: Chapter in Book/Report/Conference proceeding › Conference paper › peer-review

Abstract

Systems with a redundant set of actuators are to be found in many domains which are characterized by high demands on reliability and performance. The ambiguity in the choice of actuator commands caused by redundancy can be resolved by control allocation (CA). One variant of CA involves the formulation of constrained quadratic programs which have to be solved during controller operation. The corresponding method proposed in this work is based on the well-known penalty function method and enables a fast solution of those optimization problems. Two strategies for dealing with infeasible CA problems are suggested. After introducing the concepts extensive randomized tests with comparisons to established solvers demonstrate the effectiveness of the algorithm.

Original language	English
Title of host publication	Proceedings of the 57th IEEE Conference on Decision and Control
Publisher	Institute of Electrical and Electronics Engineers
Pages	4065-4071
Number of pages	7
DOIs	https://doi.org/10.1109/CDC.2018.8619828
Publication status	Published - 2018
Event	57th IEEE Conference on Decision and Control - Miami Beach, United States Duration: 17 Dec 2018 → 19 Dec 2018

Conference

Conference	57th IEEE Conference on Decision and Control
Abbreviated title	CDC 2018
Country/Territory	United States
City	Miami Beach
Period	17/12/18 → 19/12/18

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10.1109/CDC.2018.8619828

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Kirchengast, M, Steinberger, M & Horn, M 2018, A Fast Quadratic Program Solver for Constrained Control Allocation. in Proceedings of the 57th IEEE Conference on Decision and Control. Institute of Electrical and Electronics Engineers, pp. 4065-4071, 57th IEEE Conference on Decision and Control, Miami Beach, Florida, United States, 17/12/18. https://doi.org/10.1109/CDC.2018.8619828

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AB - Systems with a redundant set of actuators are to be found in many domains which are characterized by high demands on reliability and performance. The ambiguity in the choice of actuator commands caused by redundancy can be resolved by control allocation (CA). One variant of CA involves the formulation of constrained quadratic programs which have to be solved during controller operation. The corresponding method proposed in this work is based on the well-known penalty function method and enables a fast solution of those optimization problems. Two strategies for dealing with infeasible CA problems are suggested. After introducing the concepts extensive randomized tests with comparisons to established solvers demonstrate the effectiveness of the algorithm.

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ER -

A Fast Quadratic Program Solver for Constrained Control Allocation

Abstract

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