14660

Автор(ы): 

Автор(ов): 

1

Параметры публикации

Тип публикации: 

Доклад

Название: 

Reconfigurable direct control allocation for overactuated systems

Наименование конференции: 

  • 18th IFAC World Congress (Milano, Italy, 2011)

Наименование источника: 

  • Proceedings of the 18th IFAC World Congress (Milano, 2011)

Город: 

  • Milan

Издательство: 

  • International Federation of Automatic Control (IFAC)

Год издания: 

2011

Страницы: 

4696-4700
Аннотация
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.

Библиографическая ссылка: 

Деменков М.Н. Reconfigurable direct control allocation for overactuated systems / Proceedings of the 18th IFAC World Congress (Milano, 2011). Milan: International Federation of Automatic Control (IFAC), 2011. С. 4696-4700.