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A Survey of Optimal Control Allocation for Aerial Vehicle Control.

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Název: A Survey of Optimal Control Allocation for Aerial Vehicle Control.
Autoři: Blaha, Till Martin, Smeur, Ewoud Jan Jacob, Remes, Bart Diane Walter
Zdroj: Actuators; Jul2023, Vol. 12 Issue 7, p282, 12p
Témata: INCREMENTAL motion control, FLIGHT control systems, NONLINEAR equations, ASSIGNMENT problems (Programming), ACTUATORS
Abstrakt: In vehicle control, control allocation is often used to abstract control variables from actuators, simplifying controller design and enhancing performance. Surveying available literature reveals that explicit solutions are restricted to strong assumptions on the actuators, or otherwise fail to exploit the capabilities of the actuator constellation. A remedy is to formulate hierarchical minimization problems that take into account the limits of the actuators at the expense of a longer computing time. In this paper, we compared the most common norms of the objective functions for linear or linearized plants, and show available numeric solver types. Such a comparison has not been found in the literature before and indicates that some combinations of linear and quadratic norms are not sufficiently researched. While the bulk of the review is restricted to control-affine plant models, some extensions to dynamic and nonlinear allocation problems are shown. For aerial vehicles, a trend toward linearized incremental control schemes is visible, which forms a compromise between real-time capabilities and the ability to resolve some nonlinearities common in these vehicles. [ABSTRACT FROM AUTHOR]
Copyright of Actuators is the property of MDPI and its content may not be copied or emailed to multiple sites without the copyright holder's express written permission. Additionally, content may not be used with any artificial intelligence tools or machine learning technologies. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract. (Copyright applies to all Abstracts.)
Databáze: Complementary Index
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Header DbId: edb
DbLabel: Complementary Index
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  Data: A Survey of Optimal Control Allocation for Aerial Vehicle Control.
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  Data: <searchLink fieldCode="AR" term="%22Blaha%2C+Till+Martin%22">Blaha, Till Martin</searchLink><br /><searchLink fieldCode="AR" term="%22Smeur%2C+Ewoud+Jan+Jacob%22">Smeur, Ewoud Jan Jacob</searchLink><br /><searchLink fieldCode="AR" term="%22Remes%2C+Bart+Diane+Walter%22">Remes, Bart Diane Walter</searchLink>
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  Data: Actuators; Jul2023, Vol. 12 Issue 7, p282, 12p
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  Data: <searchLink fieldCode="DE" term="%22INCREMENTAL+motion+control%22">INCREMENTAL motion control</searchLink><br /><searchLink fieldCode="DE" term="%22FLIGHT+control+systems%22">FLIGHT control systems</searchLink><br /><searchLink fieldCode="DE" term="%22NONLINEAR+equations%22">NONLINEAR equations</searchLink><br /><searchLink fieldCode="DE" term="%22ASSIGNMENT+problems+%28Programming%29%22">ASSIGNMENT problems (Programming)</searchLink><br /><searchLink fieldCode="DE" term="%22ACTUATORS%22">ACTUATORS</searchLink>
– Name: Abstract
  Label: Abstract
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  Data: In vehicle control, control allocation is often used to abstract control variables from actuators, simplifying controller design and enhancing performance. Surveying available literature reveals that explicit solutions are restricted to strong assumptions on the actuators, or otherwise fail to exploit the capabilities of the actuator constellation. A remedy is to formulate hierarchical minimization problems that take into account the limits of the actuators at the expense of a longer computing time. In this paper, we compared the most common norms of the objective functions for linear or linearized plants, and show available numeric solver types. Such a comparison has not been found in the literature before and indicates that some combinations of linear and quadratic norms are not sufficiently researched. While the bulk of the review is restricted to control-affine plant models, some extensions to dynamic and nonlinear allocation problems are shown. For aerial vehicles, a trend toward linearized incremental control schemes is visible, which forms a compromise between real-time capabilities and the ability to resolve some nonlinearities common in these vehicles. [ABSTRACT FROM AUTHOR]
– Name: Abstract
  Label:
  Group: Ab
  Data: <i>Copyright of Actuators is the property of MDPI and its content may not be copied or emailed to multiple sites without the copyright holder's express written permission. Additionally, content may not be used with any artificial intelligence tools or machine learning technologies. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract.</i> (Copyright applies to all Abstracts.)
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        Value: 10.3390/act12070282
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      – Code: eng
        Text: English
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        PageCount: 12
        StartPage: 282
    Subjects:
      – SubjectFull: INCREMENTAL motion control
        Type: general
      – SubjectFull: FLIGHT control systems
        Type: general
      – SubjectFull: NONLINEAR equations
        Type: general
      – SubjectFull: ASSIGNMENT problems (Programming)
        Type: general
      – SubjectFull: ACTUATORS
        Type: general
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      – TitleFull: A Survey of Optimal Control Allocation for Aerial Vehicle Control.
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            NameFull: Smeur, Ewoud Jan Jacob
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            – D: 01
              M: 07
              Text: Jul2023
              Type: published
              Y: 2023
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