A New Method to Compute Generalized Inverses for Control Allocation

Martin Kirchengast; Martin Steinberger; Martin Horn

doi:10.1109/CDC.2016.7799086

A New Method to Compute Generalized Inverses for 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

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.

Original language	English
Title of host publication	Proceedings of the 55th IEEE Conference on Decision and Control
Publisher	Institute of Electrical and Electronics Engineers
Pages	5328-5334
Number of pages	7
ISBN (Electronic)	978-1-5090-1837-6
DOIs	https://doi.org/10.1109/CDC.2016.7799086
Publication status	Published - 2016
Event	55th IEEE Conference on Decision and Control - ARIA Resort & Casino, Las Vegas, United States Duration: 12 Dec 2016 → 14 Dec 2016 http://cdc2016.ieeecss.org/

Conference

Conference	55th IEEE Conference on Decision and Control
Country/Territory	United States
City	Las Vegas
Period	12/12/16 → 14/12/16
Internet address	http://cdc2016.ieeecss.org/

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10.1109/CDC.2016.7799086

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Kirchengast, M, Steinberger, M & Horn, M 2016, A New Method to Compute Generalized Inverses for Control Allocation. in Proceedings of the 55th IEEE Conference on Decision and Control. Institute of Electrical and Electronics Engineers, pp. 5328-5334, 55th IEEE Conference on Decision and Control, Las Vegas, United States, 12/12/16. https://doi.org/10.1109/CDC.2016.7799086

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title = "A New Method to Compute Generalized Inverses for Control Allocation",

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.",

author = "Martin Kirchengast and Martin Steinberger and Martin Horn",

year = "2016",

doi = "10.1109/CDC.2016.7799086",

language = "English",

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booktitle = "Proceedings of the 55th IEEE Conference on Decision and Control",

publisher = "Institute of Electrical and Electronics Engineers",

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AB - 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.

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DO - 10.1109/CDC.2016.7799086

M3 - Conference paper

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BT - Proceedings of the 55th IEEE Conference on Decision and Control

PB - Institute of Electrical and Electronics Engineers

T2 - 55th IEEE Conference on Decision and Control

Y2 - 12 December 2016 through 14 December 2016

ER -

A New Method to Compute Generalized Inverses for Control Allocation

Abstract

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