Control Allocation under Actuator Saturation: An Experimental Evaluation

Martin Kirchengast; Martin Steinberger; Martin Horn

doi:https://doi.org/10.1016/j.ifacol.2018.11.080

Control Allocation under Actuator Saturation: An Experimental Evaluation

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

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.

Original language	English
Title of host publication	IFAC-PapersOnLine: Proceedings of the 9th IFAC Symposium on Robust Control Design ROCOND 2018
Pages	48-54
Volume	51 (25)
DOIs	https://doi.org/10.1016/j.ifacol.2018.11.080
Publication status	Published - 2018
Event	Joint 9th IFAC Symposium on Robust Control Design and 2nd IFAC Workshop on Linear Parameter Varying Systems - Florianòpolis, Brazil Duration: 3 Sept 2018 → 5 Sept 2018

Conference

Conference	Joint 9th IFAC Symposium on Robust Control Design and 2nd IFAC Workshop on Linear Parameter Varying Systems
Abbreviated title	Joint ROCOND18 and LPVS18
Country/Territory	Brazil
City	Florianòpolis
Period	3/09/18 → 5/09/18

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Cite this

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. vol. 51 (25), pp. 48-54, Joint 9th IFAC Symposium on Robust Control Design and 2nd IFAC Workshop on Linear Parameter Varying Systems, Florianòpolis, Brazil, 3/09/18. https://doi.org/10.1016/j.ifacol.2018.11.080

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title = "Control Allocation under Actuator Saturation: An Experimental Evaluation",

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.",

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

year = "2018",

doi = "https://doi.org/10.1016/j.ifacol.2018.11.080",

language = "English",

volume = "51 (25)",

pages = "48--54",

booktitle = "IFAC-PapersOnLine: Proceedings of the 9th IFAC Symposium on Robust Control Design ROCOND 2018",

note = "Joint 9th IFAC Symposium on Robust Control Design and 2nd IFAC Workshop on Linear Parameter Varying Systems, Joint ROCOND18 and LPVS18 ; Conference date: 03-09-2018 Through 05-09-2018",

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AU - Horn, Martin

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N2 - 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.

AB - 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.

U2 - https://doi.org/10.1016/j.ifacol.2018.11.080

DO - https://doi.org/10.1016/j.ifacol.2018.11.080

M3 - Conference paper

VL - 51 (25)

SP - 48

EP - 54

BT - IFAC-PapersOnLine: Proceedings of the 9th IFAC Symposium on Robust Control Design ROCOND 2018

T2 - Joint 9th IFAC Symposium on Robust Control Design and 2nd IFAC Workshop on Linear Parameter Varying Systems

Y2 - 3 September 2018 through 5 September 2018

ER -

Control Allocation under Actuator Saturation: An Experimental Evaluation

Abstract

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