Browsing by Subject "Actuator saturation"

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    Adaptive control allocation for constrained systems
    (Elsevier, 2020-06) Tohidi, Seyed Shahabaldin; Yıldız, Yıldıray; Kolmanovsky, I.
    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.
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    Handling actuator magnitude and rate saturation in uncertain over-actuated systems: a modified projection algorithm approach
    (Taylor and Francis, 2020-09-24) Tohidi, Seyed Shahabaldin; Yıldız, Yıldıray
    This paper proposes a projection algorithm which can be employed to bound actuator signals, in terms of both magnitude and rate, for uncertain systems with redundant actuators. The investigated closed-loop control system is assumed to contain an adaptive control allocator to distribute the total control input among actuators. Although conventional control allocation methods can handle actuator rate and magnitude constraints, they cannot consider actuator uncertainty. On the other hand, adaptive allocators manage uncertainty and actuator magnitude limits. The proposed projection algorithm enables adaptive control allocators to handle both magnitude and rate saturation constraints. A mathematically rigorous analysis is provided to show that with the help of the proposed projection algorithm, the performance of the adaptive control allocator can be guaranteed, in terms of error bounds. Simulation results are presented, where the Aero-Data Model In Research Environment (ADMIRE) is used to demonstrate the effectiveness of the proposed method