Abstract
A dynamic control allocation algorithm is designed to solve the control allocation problem for unmanned aerial vehicles with multiple control effectors. Most existing control allocation methods assume a static relationship between control surface deflections and moments to be produced, the resulting control distribution relies only on the present control demand. The algorithm in this paper extends a sequential quadratic programming by adding an extra term to penalize the actuator rates, where the control allocation result also depends on previous distribution. By taking different frequency characteristic of actuators into account, fast actuators can be chosen to produce high frequency components of virtual control command, the chances of rate saturation are correspondingly reduced. The validity and advantages are illustrated through numerical simulation results. Comparisons are made with the other two static control allocation approaches.
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Wang, HD., Yi, JQ., Fan, GL. (2008). A Dynamic Control Allocation Method for Unmanned Aerial Vehicles with Multiple Control Effectors. In: Xiong, C., Huang, Y., Xiong, Y., Liu, H. (eds) Intelligent Robotics and Applications. ICIRA 2008. Lecture Notes in Computer Science(), vol 5314. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-88513-9_125
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DOI: https://doi.org/10.1007/978-3-540-88513-9_125
Publisher Name: Springer, Berlin, Heidelberg
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