A Fast Quadratic Program Solver for Constrained Control Allocation

Research output: Chapter in Book/Report/Conference proceedingConference contributionResearchpeer-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 languageEnglish
Title of host publicationProceedings of the 57th IEEE Conference on Decision and Control
PublisherInstitute of Electrical and Electronics Engineers
Pages4065-4071
Number of pages7
DOIs
Publication statusPublished - 2018
Event57th IEEE Conference on Decision and Control - Miami Beach, United States
Duration: 17 Dec 201819 Dec 2018

Conference

Conference57th IEEE Conference on Decision and Control
Abbreviated titleCDC 2018
CountryUnited States
CityMiami Beach
Period17/12/1819/12/18

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Actuators
Redundancy
Controllers

Cite this

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 (pp. 4065-4071). Institute of Electrical and Electronics Engineers. https://doi.org/10.1109/CDC.2018.8619828

A Fast Quadratic Program Solver for Constrained Control Allocation. / Kirchengast, Martin; Steinberger, Martin; Horn, Martin.

Proceedings of the 57th IEEE Conference on Decision and Control. Institute of Electrical and Electronics Engineers, 2018. p. 4065-4071.

Research output: Chapter in Book/Report/Conference proceedingConference contributionResearchpeer-review

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