Handling actuator magnitude and rate saturation in uncertain over-actuated systems: a modified projection algorithm approach

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buir.contributor.authorTohidi, Seyed Shahabaldin
buir.contributor.authorYıldız, Yıldıray
buir.contributor.orcidTohidi, Seyed Shahabaldin|0000-0002-4566-667X
buir.contributor.orcidYıldız, Yıldıray|0000-0001-6270-5354
dc.citation.epage803en_US
dc.citation.issueNumber3
dc.citation.spage790
dc.citation.volumeNumber95
dc.contributor.authorTohidi, Seyed Shahabaldin
dc.contributor.authorYıldız, Yıldıray
dc.date.accessioned2021-03-08T09:31:40Z
dc.date.available2021-03-08T09:31:40Z
dc.date.issued2020-09-24
dc.departmentDepartment of Mechanical Engineeringen_US
dc.description.abstractThis 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 methoden_US
dc.description.sponsorshipThis work was supported by the Scientific and Technological Research Council of Turkey (TUBITAK) [grant number 118E202] and by the Turkish Academy of Sciences Young Scientist Award Program.en_US
dc.identifier.doi10.1080/00207179.2020.1823019en_US
dc.identifier.eissn1366-5820
dc.identifier.issn0020-7179
dc.identifier.urihttp://hdl.handle.net/11693/75878
dc.language.isoEnglishen_US
dc.publisherTaylor and Francisen_US
dc.relation.isversionofhttps://dx.doi.org/10.1080/00207179.2020.1823019en_US
dc.source.titleInternational Journal of Controlen_US
dc.subjectProjection algorithmen_US
dc.subjectAdaptive systemsen_US
dc.subjectActuator saturationen_US
dc.subjectControl allocationen_US
dc.titleHandling actuator magnitude and rate saturation in uncertain over-actuated systems: a modified projection algorithm approachen_US
dc.typeArticleen_US

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