Adaptive control allocation for over-actuated systems with actuator saturation

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dc.citation.epage5497en_US
dc.citation.issueNumber1en_US
dc.citation.spage5492en_US
dc.citation.volumeNumber50en_US
dc.contributor.authorTohidi, Seyed Shahabaldinen_US
dc.contributor.authorYıldız, Yıldırayen_US
dc.contributor.authorKolmanovsky, Ilyaen_US
dc.date.accessioned2018-04-12T11:12:02Z
dc.date.available2018-04-12T11:12:02Z
dc.date.issued2017en_US
dc.departmentDepartment of Mechanical Engineeringen_US
dc.description.abstractThis paper proposes an adaptive control allocation approach for over-actuated systems with actuator saturation. The methodology can tolerate actuator loss of effectiveness without utilizing the control input matrix estimation, eliminating the need for persistence of excitation. Closed loop reference model adaptive controller is used for identifying adaptive parameters, which provides improved performance without introducing undesired oscillations. The modular design of the proposed control allocation method improves the flexibility to develop the outer loop controller and the control allocation strategy separately. The ADMIRE model is used as an over-actuated system, to demonstrate the effectiveness of the proposed method using simulation results.en_US
dc.identifier.doi10.1016/j.ifacol.2017.08.1088en_US
dc.identifier.issn24058963
dc.identifier.urihttp://hdl.handle.net/11693/37388
dc.language.isoEnglishen_US
dc.publisherElsevier B.V.en_US
dc.relation.isversionofhttp://dx.doi.org/10.1016/j.ifacol.2017.08.1088en_US
dc.source.titleIFAC-PapersOnLineen_US
dc.subjectActuator constrainten_US
dc.subjectAdaptive controlen_US
dc.subjectControl allocationen_US
dc.subjectSliding mode controlen_US
dc.titleAdaptive control allocation for over-actuated systems with actuator saturationen_US
dc.typeArticleen_US

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