Modified Pseudoinverse Redistribution Methods for Redundant Controls Allocation

Jin, Jaehyun

doi:10.2514/1.14992

Cited by 62 publications

(29 citation statements)

References 15 publications

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“…The main technique these methods have in common is solving a constrained optimization problem. The pseudo-inverse redistribution method ( (Bodson, 2002), (Jin, 2005)) is another technique, which makes use of a pseudoinverse computation of the control input matrix A. Although it does not always provide an optimal solution, it is usually faster than the other methods.…”

Section: Aδ(t) = V(t) δ I (T) ≤ δI(t) ≤ δI(t)mentioning

confidence: 99%

Discussion and Practical Aspects on Control Allocation for a Multi-Rotor Helicopter

Ducard

Hua

2012

Int. Arch. Photogramm. Remote Sens. Spatial Inf. Sci.

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ABSTRACT:This paper presents practical methods to improve the flight performance of an unmanned multi-rotor helicopter by using an efficient control allocation strategy. The flying vehicle considered is an hexacopter. It is indeed particularly suited for long missions and for carrying a significant payload such as all the sensors needed in the context of cartography, photogrammetry, inspection, surveillance and transportation. Moreover, a stable flight is often required for precise data recording during the mission. Therefore, a high performance flight control system is required to operate the UAV. However, the flight performance of a multi-rotor vehicle is tightly dependent on the control allocation strategy that is used to map the virtual controlT composed of the thrust and the torques in roll, pitch and yaw, respectively, to the propellers' speed. This paper shows that a control allocation strategy based on the classical approach of pseudo-inverse matrix only exploits a limited range of the vehicle capabilities to generate thrust and moments. Thus, in this paper, a novel approach is presented, which is based on a weighted pseudo-inverse matrix method capable of exploiting a much larger domain in v. The proposed control allocation algorithm is designed with explicit laws for fast operation and low computational load, suitable for a small microcontroller with limited floating-point operation capability.

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Section: Aδ(t) = V(t) δ I (T) ≤ δI(t) ≤ δI(t)mentioning

confidence: 99%

Discussion and Practical Aspects on Control Allocation for a Multi-Rotor Helicopter

Ducard

Hua

2012

Int. Arch. Photogramm. Remote Sens. Spatial Inf. Sci.

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“…In addition, position limits of the control surfaces must be considered in order to achieve a realistic solution. Some of the simplest control allocation techniques are explicit ganging, pseudo control, pseudo inverse, pseudo-inverse-redistribution [1] and daisy chaining. Unfortunately, each suffers from difficulty in guaranteeing that position limits will not be violated.…”

Section: Introductionmentioning

confidence: 99%

Embedding norm-bounded Model Predictive Control allocation strategy for the High Altitude Performance Demonstrator (HAPD) Aircraft

Franzè

Mattei

Scordamaglia

2013

52nd IEEE Conference on Decision and Control

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In this paper the implementation of a robust Model Predictive Control (MPC) algorithm for constrained uncertain discrete-time linear systems subject to norm-bounded model uncertainties is used to deal with the control allocation problem of an High Altitude Performance Demonstrator (HAPD) unmanned aircraft with redundancy control surfaces. Specifically, the HAPD nonlinear model is described by means of LFR differential inclusions achieved via embedding arguments while the surface deflection amplitude limitations are formulated in terms of convex constraints. As a consequence, the overall control problem can be recast in terms of Linear Matrix Inequalities (LMIs) that are affordable from a computational point of view.

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“…(CA, Control Allocation) 을 적용하여 설계되고 있다 적응제어 기법을 이용한 [9][10][11][12][13][14][15][16] . [9,10,12], 을 이용한 최적화 기반 조종력 할당(OCA, Optimization-의사 역행렬을 이용한 조종력 할당 based CA) [11,13,14], 등이 있다 (PCA, Pseudo-inverse CA) [15,16] .…”

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“…[9,10,12], 을 이용한 최적화 기반 조종력 할당(OCA, Optimization-의사 역행렬을 이용한 조종력 할당 based CA) [11,13,14], 등이 있다 (PCA, Pseudo-inverse CA) [15,16] . …”

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Analysis on Flight Test Results of Reconfiguration Flight Control System

2008

Journal of Institute of Control, Robotics and Systems

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: This paper presents the analysis results obtained by the flight test of reconfiguration flight control system for an aircraft. The reconfiguration flight control system was designed by using control allocation scheme that automatically distributes the demanded control moments determined by control law to each actual control surface. In this paper, some control allocation algorithms for reconfiguration control of general aircraft with redundant control surfaces are summarized and their performance evaluation results through nonlinear simulation and Hardware-In-the-Loop-Simulation (HILS) test are shown. Also, Unmanned Aerial Vehicle (UAV) system adopted as a platform for the flight test of reconfiguration flight controller and the implementation procedure of reconfiguration flight controller into real-time UAV system were introduced. Finally, flight test results were analyzed.

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Modified Pseudoinverse Redistribution Methods for Redundant Controls Allocation

Cited by 62 publications

References 15 publications

Discussion and Practical Aspects on Control Allocation for a Multi-Rotor Helicopter

Discussion and Practical Aspects on Control Allocation for a Multi-Rotor Helicopter

Embedding norm-bounded Model Predictive Control allocation strategy for the High Altitude Performance Demonstrator (HAPD) Aircraft

Analysis on Flight Test Results of Reconfiguration Flight Control System

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