Control allocation—A survey
TL;DR: The objective of the present paper is to survey control allocation algorithms, motivated by the rapidly growing range of applications that have expanded from the aerospace and maritime industries, where control allocation has its roots, to automotive, mechatronics, and other industries.
About: This article is published in Automatica.The article was published on 2013-05-01 and is currently open access. It has received 841 citations till now. The article focuses on the topics: Instrumentation and control engineering & Motion control.
Citations
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TL;DR: An overview of both historical and recent USVs development is provided, along with some fundamental definitions, and existing USVs GNC approaches are outlined and classified according to various criteria, such as their applications, methodologies, and challenges.
709 citations
Proceedings Article•
01 Jan 2005
TL;DR: In this article, the authors investigate the relationship between optimal control design and control allocation when the performance indexes are quadratic in the control input and show that for a particular class of nonlinear systems, they give exactly the same design freedom in distributing the control effort among the actuators.
Abstract: This paper considers actuator redundancy management for a class of overactuated nonlinear systems. Two tools for distributing the control effort among a redundant set of actuators are optimal control design and control allocation. In this paper, we investigate the relationship between these two design tools when the performance indexes are quadratic in the control input. We show that for a particular class of nonlinear systems, they give exactly the same design freedom in distributing the control effort among the actuators. Linear quadratic optimal control is contained as a special case. A benefit of using a separate control allocator is that actuator constraints can be considered, which is illustrated with a flight control example.
341 citations
TL;DR: An overview on recent development of spacecraft attitude FTC system design is presented, and a brief review of some open problems in the general area of spacecraft attitudes control design subject to components faults/failures is concluded.
Abstract: Motivated by several accidents, attitude control of a spacecraft subject to faults/failures has gained considerable attention in a wider range of aerospace engineering and academic communities. This paper is concerned with industrial practices and theoretical approaches for fault tolerant control (FTC) and fault detection and diagnosis (FDD) in spacecraft attitude control system. An overview on recent development of spacecraft attitude FTC system design is presented. The basis of a FTC system is introduced. The existing engineering FTC techniques and theoretical methodologies, including their advantages and disadvantages, are discussed. Moreover, closely associated with the reliability-relevant issues, recent progress in attitude FTC design strategies is reviewed. A brief review of some open problems in the general area of spacecraft attitude control design subject to components faults/failures is further concluded.
266 citations
Cites background from "Control allocation—A survey"
...Due to actuator redundancy, the solution of control allocation to generate the desired control effort is not unique [87]....
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TL;DR: An extensive analysis of the integral line-of-sight (ILOS) guidance method for path-following tasks of underactuated marine vehicles, operating on and below the sea surface shows that due to the embedded integral action, the guidance law makes the vessels follow straight lines by compensating for the drift effect of environmental disturbances.
Abstract: This paper presents an extensive analysis of the integral line-of-sight (ILOS) guidance method for path-following tasks of underactuated marine vehicles, operating on and below the sea surface. It is shown that due to the embedded integral action, the guidance law makes the vessels follow straight lines by compensating for the drift effect of environmental disturbances, such as currents, wind, and waves. The ILOS guidance is first applied to a 2-D model of surface vessels that includes the underactauted sway dynamics of the vehicle as well as disturbances in the form of constant irrotational ocean currents and constant dynamic, attitude dependent, and forces. The actuated dynamics are not considered at this point. A Lyapunov closed-loop analysis yields explicit bounds on the guidance law gains to guarantee uniform global asymptotic stability (UGAS) and uniform local exponential stability (ULES). The complete kinematic and dynamic closed-loop system of the 3-D ILOS guidance law is analyzed in the following and hence extending the analysis to underactuated autonomous underwater vehicles (AUVs) for the 3-D straight-line path-following applications in the presence of constant irrotational ocean currents. The actuated surge, pitch, and yaw dynamics are included in the analysis where the closed-loop system forms a cascade, and the properties of UGAS and ULES are shown. The 3-D ILOS control system is a generalization of the 2-D ILOS guidance. Finally, results from simulations and experiments are presented to validate and illustrate the theoretical results, where the 2-D ILOS guidance is applied to the cooperative autonomous robotics towing system vehicle and light AUV.
233 citations
Cites background from "Control allocation—A survey"
...Even when tunnel thrusters are installed, such actuators are effective exclusively at low maneuvering speeds [5]....
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TL;DR: The requirement that methodologies for CPS-design should be part of a multi-disciplinary development process within which designers should focus not only on the separate physical and computational components, but also on their integration and interaction is considered.
208 citations
References
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