Results 291 to 300 of about 1,656,746 (348)
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Control Allocation and Zero Dynamics
Journal of Guidance, Control, and Dynamics, 1996Closed-loop stability for dynamic inversion controllers depends on the stability of the zero dynamics. The zero dynamics, however, depend on a generally nonlinear control allocation function that optimally distributes redundant controls. Therefore, closed-loop stability depends on the control allocation function.
James Buffington, Dale Enns, Andrew Teel
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Minimum drag control allocation
21st Atmospheric Flight Mechanics Conference, 1996Continued research into the direct control allocation problem with rate limiting has led to consideration of a modified problem in which control generated drag is considered as a fourth objective (in addition to the 3 moments). This allocation scheme uses the controls' effectiveness in generating moments as well as their effectiveness in generating ...
Wayne C. Durham +2 more
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Control allocation-based fault tolerant control
Automatica, 2019zbMATH Open Web Interface contents unavailable due to conflicting licenses.
Ahmadreza Argha +2 more
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A control allocation approach for energetic swarm control
2009 American Control Conference, 2009In this paper, a control allocation approach is developed for energetic swarm control. This new approach allows sliding control of swarm temperature, swarm center position, and swarm potential energy. Since the sliding control problem is highly over-actuated, a control allocation optimization problem can be formulated and solved including input ...
Reza Pedrami +3 more
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Optimal control allocation for coordinated suspension control
2014 American Control Conference, 2014This paper is concerned with applying techniques from L 2 -optimal control allocation for the coordinated stabilization and control of vertical vehicle dynamics (roll, pitch, and vertical motion) using active and semi-active suspensions. This is accomplished by designing appropriate high-level controllers and control allocators for multiobjective ...
Michael K. Binder, Amir Khajepour
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Control allocation for systems with coplanar controls
AIAA Guidance, Navigation, and Control Conference and Exhibit, 2000The paper considers the problem of distributing control requirements among multiple, redundant actuators in flight control systems. The direct allocation technique proposed by Durham is studied. The original method assumed that any three columns of the controls effectiveness matrix were linearly independent, hi this paper, the condition is relaxed, so ...
John Petersen, Marc Bodson
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Control allocation with adaptive failure control
22nd Atmospheric Flight Mechanics Conference, 1997In the age of modern aircraft and fly-by-wire control systems, the inclusion of mechanical backup systems for handling instances of control failures is becoming more uncommon. As a result, pilots are forced to fully rely on the failure immunities designed into these systems and be assured that, should such failures occur, the aircraft maintain adequate
John Bolling +3 more
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Optimizing nonlinear control allocation
2004 43rd IEEE Conference on Decision and Control (CDC) (IEEE Cat. No.04CH37601), 2004Control allocation is commonly utilized in overactuated mechanical systems in order to optimally generate a requested generalized force using a redundant set of actuators. Using a control-Lyapunov approach, we develop an optimizing control allocation algorithm in the form of a dynamic update law, for a general class of nonlinear systems.
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Safe and High-Performance Control Allocation
IEEE Transactions on Automatic Control, 2022This paper focuses on the control of nonlinear systems with redundant actuation, where the number of actuators is higher than the controllable degrees of freedom. To effectively handle actuation redundancy, we propose a control allocation (CA) approach that combines numerical optimization methods with control Lyapunov and control barrier functions. The
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Spacecraft thruster control allocation problems
IEEE Transactions on Automatic Control, 2005We consider the control allocation problem in a spacecraft thruster configuration. It consists on the determination of the force command to be sent to each thruster in order to point the total torque and/or thrust vectors. Here, we state four possible practical problems and propose a control allocation algorithm based on a subgradient optimization ...
Pablo A. Servidia +1 more
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