New control allocation algorithms in fixed point framework for overactuated systems with actuator saturation
| Autor: | Asim Kumar Naskar, Siddhartha Sen, Sourav Patra |
|---|---|
| Rok vydání: | 2016 |
| Předmět: |
0209 industrial biotechnology
Mathematical optimization Zero finding Control (management) 010103 numerical & computational mathematics 02 engineering and technology Function (mathematics) Fixed point 01 natural sciences Computer Science Applications Actuator saturation symbols.namesake 020901 industrial engineering & automation Control and Systems Engineering Control theory Superlinear convergence symbols 0101 mathematics Actuator Newton's method Algorithm Mathematics |
| Zdroj: | International Journal of Control. 90:348-356 |
| ISSN: | 1366-5820 0020-7179 |
| DOI: | 10.1080/00207179.2016.1181785 |
| Popis: | In this paper, two control allocation algorithms have been proposed for overactuated systems. The algorithms are developed by formulating constrained control allocation problem into an equivalent fixed point framework. The first algorithm follows sequential solving method while the other one involves a zero finding technique by the Newton method. In order to consider limiting constraints, the saturation function has been taken into account that leads to a nonsmooth zero finding problem and the proposed method guarantees superlinear convergence. The second algorithm is easy to implement and faster than the algorithm developed based on the sequential solving technique. To demonstrate the effectiveness of the proposed algorithms, a detail simulation study has been carried out, in which one example considers both the actuator rate and amplitude constraints. |
| Databáze: | OpenAIRE |
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