Control Allocation under Actuator Saturation: An Experimental Evaluation

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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 languageEnglish
Title of host publicationIFAC-PapersOnLine
Subtitle of host publicationProceedings of the 9th IFAC Symposium on Robust Control Design ROCOND 2018
Pages48-54
DOIs
Publication statusPublished - 2018
EventJoint 9th IFAC Symposium on Robust Control Design and 2nd IFAC Workshop on Linear Parameter Varying Systems - Florianòpolis, Brazil
Duration: 3 Sep 20185 Sep 2018

Conference

ConferenceJoint 9th IFAC Symposium on Robust Control Design and 2nd IFAC Workshop on Linear Parameter Varying Systems
Abbreviated titleJoint ROCOND18 and LPVS18
CountryBrazil
CityFlorianòpolis
Period3/09/185/09/18

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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 (pp. 48-54) https://doi.org/10.1016/j.ifacol.2018.11.080