Safe and High-Performance Control Allocation

This article focuses on the control of nonlinear systems with redundant actuation, where the number of actuators is higher than the number of controllable degrees of freedom. To effectively handle actuation redundancy, we propose a control allocation (CA) approach that combines numerical optimizatio...

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Bibliographic Details
Published in:IEEE transactions on automatic control Vol. 67; no. 6; pp. 3120 - 3127
Main Author: Castro, Ricardo de
Format: Journal Article
Language:English
Published: New York IEEE 01.06.2022
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects:
Actuation
Actuators
Algorithms
Constrained control
Liapunov functions
Lyapunov methods
Mathematical analysis
mechatronics
Nonlinear control
Nonlinear systems
Numerical methods
Optimization
Redundancy
Resource management
Safety
Uncertainty
ISSN:0018-9286, 1558-2523
Online Access:Get full text
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Summary:This article focuses on the control of nonlinear systems with redundant actuation, where the number of actuators is higher than the number of 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 inclusion of control Lyapunov functions enhances the CA's ability to minimize performance loss in the presence of unattainable virtual inputs. The integration of barrier functions allows the CA to exploit actuation redundancy to enforce safety constraints. The proposed approach is applied to the control of an overactuated system, demonstrating superior transient and safety properties when compared to classical CA algorithms.
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ISSN:0018-9286
1558-2523
DOI:10.1109/TAC.2021.3096882