A New Method to Compute Generalized Inverses for Control Allocation

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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 languageEnglish
Title of host publicationProceedings of the 55th IEEE Conference on Decision and Control
PublisherInstitute of Electrical and Electronics Engineers
Pages5328-5334
Number of pages7
ISBN (Electronic)978-1-5090-1837-6
DOIs
Publication statusPublished - 2016
Event 55th IEEE Conference on Decision and Control - ARIA Resort & Casino, Las Vegas, United States
Duration: 12 Dec 201614 Dec 2016
http://cdc2016.ieeecss.org/

Conference

Conference 55th IEEE Conference on Decision and Control
CountryUnited States
CityLas Vegas
Period12/12/1614/12/16
Internet address

Fingerprint Dive into the research topics of 'A New Method to Compute Generalized Inverses for Control Allocation'. Together they form a unique fingerprint.

Cite this