Comparison between Optimal Control Allocation with Mixed Quadratic &amp; Linear Programming Techniques

Grechi, Simone; Caiti, Andrea

doi:10.1016/j.ifacol.2016.10.335

Cited by 6 publications

(5 citation statements)

References 11 publications

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“…In the same reference, some approaches are suggested that appear particularly suitable for spacecraft control allocation problems. Additional references on the subject are: [9], [10], [11], [12] and [13].…”

Section: Introductionmentioning

confidence: 99%

Realistic Guidance Performances during Lunar Rendezvous with the Third Body Perturbation

Bucchioni

Casasco²,

Innocenti

2020

AIAA Scitech 2020 Forum

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The paper describes the performance of a guidance law based on the Adjoint and SDRE methods in presence of reality representative models of sensors and actuators during the rendezvous phase of the proposed Heracles mission to the Moon. In recent years, the increased interest in returning to the Moon has motivated the necessity to develop accurate models for the analysis of missions that takes into account realistic system components. The paper reviews the mission's details, the rendezvous/berthing guidance algorithm with third body perturbation, and sensor's and actuators state of the art models. A Montecarlo analysis is used to validate the models in order to satisfy the safety of the trajectory. The results show that the proposed guidance and control are capable of maintaining safe relative motion between the vehicles.

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Section: Introductionmentioning

confidence: 99%

Realistic Guidance Performances during Lunar Rendezvous with the Third Body Perturbation

Bucchioni

Casasco²,

Innocenti

2020

AIAA Scitech 2020 Forum

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“…It has been applied to re-entry vehicles and UAVs, yielding more accurate control in simulation, but without meeting real-time constraints [45], or without mentioning them [10]. Application to autonomous underwater vehicles, at a low update rate of 10 Hz, has been successful [5].…”

Section: Linearized Control Allocationmentioning

confidence: 99%

“…Control allocation is relevant to many vehicles and has been applied to naval vessels for station keeping [3] and maneuvering [4], underwater vehicle control [5], the electronic stability control of road vehicles [6,7], high-performance aircraft [8,9], and unmanned air vehicles (UAVs) [10,11]. This work aims to provide motivation, derivation, capabilities, and limitations of several commonly used methods, focusing on aircraft.…”

Section: Introductionmentioning

confidence: 99%

A Survey of Optimal Control Allocation for Aerial Vehicle Control

2023

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In vehicle control, control allocation is often used to abstract control variables from actuators, simplifying controller design and enhancing performance. Surveying available literature reveals that explicit solutions are restricted to strong assumptions on the actuators, or otherwise fail to exploit the capabilities of the actuator constellation. A remedy is to formulate hierarchical minimization problems that take into account the limits of the actuators at the expense of a longer computing time. In this paper, we compared the most common norms of the objective functions for linear or linearized plants, and show available numeric solver types. Such a comparison has not been found in the literature before and indicates that some combinations of linear and quadratic norms are not sufficiently researched. While the bulk of the review is restricted to control-affine plant models, some extensions to dynamic and nonlinear allocation problems are shown. For aerial vehicles, a trend toward linearized incremental control schemes is visible, which forms a compromise between real-time capabilities and the ability to resolve some nonlinearities common in these vehicles.

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“…15,16 In active FTC, the typical way to deal with this problem is to use generalized inverses (pseudo-inverses) and a least-squares cost function. 17–19…”

Section: Introductionmentioning

confidence: 99%

Fault-tolerant control approach based on constraint control allocation for 4WIS/4WID vehicles

Liu

Zong

Zhang

et al. 2021

Proceedings of the Institution of Mechanical Engineers, Part D:

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The four-wheel independently driven and steered electric vehicle is a promising vehicle model having a strong potential for handling stability, flexibility, and consumption reduction. However, failure of the actuators of 4WIS/4WID vehicles could lead to performance reduction and dangerous accidents owing to their complex system. A fault-tolerant control approach is adopted in the integrated chassis controller such that the autonomously driven vehicle maintains its safety and stability while actuator failures occur. A linear quadratic regulator is utilized to track the reference path by adjusting the total forces and moment. To resolve any actuator failures, a control allocation method based on the pseudo-inverse matrix is introduced for decoupling the forces and moment based on the current state of the tires with cycle and correction. In the actuator control layer, the desired forces of the tires are achieved by regulating the steering angles and driving torques based on the inverse tire models of normal and flat tires. Three sets of experiments are used to test the efficiency of the proposed method when applied to a 4WIS/4WID vehicle. The results demonstrate that the proposed fault-tolerant control method can greatly improve the tracking performance and stability of 4WIS/4WID vehicles under conditions of actuator failures.

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Comparison between Optimal Control Allocation with Mixed Quadratic & Linear Programming Techniques

Cited by 6 publications

References 11 publications

Realistic Guidance Performances during Lunar Rendezvous with the Third Body Perturbation

Realistic Guidance Performances during Lunar Rendezvous with the Third Body Perturbation

A Survey of Optimal Control Allocation for Aerial Vehicle Control

Fault-tolerant control approach based on constraint control allocation for 4WIS/4WID vehicles

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