Adaptive control allocation for constrained systems
Date
2020-06
Editor(s)
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Instructor
Source Title
Automatica
Print ISSN
0005-1098
Electronic ISSN
Publisher
Elsevier
Volume
121
Issue
Pages
109161-1 - 109161-11
Language
English
Type
Journal Title
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Abstract
This paper proposes an adaptive control allocation approach for uncertain over-actuated systems with actuator saturation. The proposed control allocation method does not require uncertainty estimation or persistency of excitation. Actuator constraints are respected by employing the projection algorithm. The stability analysis is provided for two different cases: when ideal adaptive parameters are inside and when they are outside of the projection boundary which is chosen consistently with the actuator saturation limits. Simulation results for the Aerodata Model in Research Environment (ADMIRE), which is used as an example of an over-actuated aircraft system with actuator saturation, demonstrate the effectiveness of the proposed method.