Reconfigurable direct control allocation for overactuated systems

Autor:	Max Demenkov
Rok vydání:	2011
Předmět:	Lyapunov function Engineering Virtual control business.industry Direct control Control (management) Control reconfiguration symbols.namesake Linear relationship Control vector Control theory symbols Actuator business
Zdroj:	IFAC Proceedings Volumes. 44:4696-4700
ISSN:	1474-6670
DOI:	10.3182/20110828-6-it-1002.03790
Popis:	Control allocation deals with distributing the total virtual control input among the individual physical actuators in overactuated systems. We propose a new real-time solution for direct allocation problem, where a linear relationship exists between the virtual three-dimensional control vector and the actual constrained control inputs vector of a bigger size. The proposed procedure is based on zonotope properties and is suitable for on-line reconfiguration in case of actuators faults. The resulting vector of actual system inputs can be computed analogously to the determination of control in polyhedral Lyapunov function method.
Databáze:	OpenAIRE
Externí odkaz:	https://explore.openaire.eu/search/publication?articleId=doi_________::f930fba9b9fd3e21006ae35657190cd4 https://doi.org/10.3182/20110828-6-it-1002.03790 Zobrazit plný text záznamu