Control Allocation for Over-actuated Systems

Oppenheimer, Michael W.; Doman, David B.; Bolender, Michael A.

doi:10.1109/med.2006.328750

Cited by 169 publications

(87 citation statements)

References 9 publications

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“…To this end, a daisy chain control methodology is implemented. This method assumes a hierarchy of control effectors and does not utilise an available control effector until all higher priority control effectors become saturated [20]. For this research, the tilting rotor will be assigned the highest priority when tracking commanded horizontal accelerations.…”

Section: Control System Architecturementioning

confidence: 99%

Modelling and Daisy Chaining Control Allocation of a Multirotor Helicopter with a Single Tilting Rotor

2016

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This paper presents the development and implementation of a single tilting rotor multirotor helicopter. A single tilting rotor multirotor helicopter is proposed that allows for decoupled lateral acceleration and attitude states. A dynamics model of the proposed multirotor helicopter is established to enable control system development. A control system architecture and daisy chaining-based control allocation scheme is developed and implemented. The control architecture facilitates the control of decoupled lateral accelerations and attitudes. Further, a computational and experimental analysis is undertaken and offers evidence that the proposed multirotor helicopter and control system architecture enables the multirotor helicopter to achieve lateral accelerations without requiring attitude actuation.

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Section: Control System Architecturementioning

confidence: 99%

Modelling and Daisy Chaining Control Allocation of a Multirotor Helicopter with a Single Tilting Rotor

2016

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“…As the number of controlled actuators is higher than the number of degrees of freedom, CA is a mathematically under-determined problem which leads to an infinite amount of solutions. It can be solved with help of the pseudo-inverse control allocation strategy (PCA), which requires a low computational effort and run time (Oppenheimer et al 2006). This approach applies a rule-based mathematical alternative solution based on the Moore-Penrose pseudoinverse (Bodson 2002) for finding the inverse of a non-quadratic matrix without optimisation.…”

Section: Control Architecturementioning

confidence: 99%

Front-to-rear torque vectoring Model Predictive Control for terminal understeer mitigation

Wanner¹,

Nybacka²,

Wallmark³

et al. 2016

The Dynamics of Vehicles on Roads and Tracks

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This paper presents a fault handling strategy for electric vehicles with four individual-wheel drives, which are based on wheel hub motors. The control strategy to handle the faults is based on the principle of control allocation and is implemented in an experimental vehicle. Experimental tests has been performed with the experimental vehicle and with simulation. The results show that the directional stability of such a vehicle can be improved for the analysed manoeuvre and failure mode, and the tendencies of the experimental results correspond with the simulation results. It has been found that the lateral and yaw motion could be strongly improved.

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“…For example, the observer based approach has been extended to cover actuator faults in the form of the virtual actuator (Steffen, 2005). Likewise, the idea of analytical redundancies in sensors (Frank, 1990) has its equivalent for actuators in the form of dynamic gain scheduling and control allocation (Oppenheimer and Doman, 2006). Consequently, the classical fault tolerant approach for actuation is replication, the same strategy usually used for sensors.…”

Section: Fault Tolerancementioning

confidence: 99%

Increasing Reliability by Means of Efficient Configurations for High Redundancy Actuators

Steffen

Schiller

Blum

et al. 2009

IFAC Proceedings Volumes

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Control Allocation for Over-actuated Systems

Cited by 169 publications

References 9 publications

Modelling and Daisy Chaining Control Allocation of a Multirotor Helicopter with a Single Tilting Rotor

Modelling and Daisy Chaining Control Allocation of a Multirotor Helicopter with a Single Tilting Rotor

Front-to-rear torque vectoring Model Predictive Control for terminal understeer mitigation

Increasing Reliability by Means of Efficient Configurations for High Redundancy Actuators

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