A Modified Direct Allocation Algorithm with Application to Redundant Actuators

Tang, Shijie; Zhang, Shijie; Zhang, Yulin

doi:10.1016/s1000-9361(11)60035-6

Cited by 21 publications

(8 citation statements)

References 10 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…The linear mapping between

and

is presented through the PI control allocation. However, the solution given by (32) may not satisfy the practical thruster range with the limitation of the thruster configuration ( Tang et al., 2011 ). Thus, the optimal solution can be improved by employing the null space of the control allocation matrix

where

, namely

.…”

Section: Optimal Control Torque Allocation Strategymentioning

confidence: 99%

Fixed-time regulation of spacecraft orbit and attitude coordination with optimal actuation allocation using dual quaternion

et al. 2023

View full text Add to dashboard Cite

On-orbit service spacecraft with redundant actuators need to overcome orbital and attitude coupling when performing proximity maneuvers. In addition, transient/steady-state performance is required to fulfill the user-defined requirements. To these ends, this paper introduces a fixed-time tracking regulation and actuation allocation scheme for redundantly actuated spacecraft. The coupling effect of translational and rotational motions is described by dual quaternion. Based on this, we propose a non-singular fast terminal sliding mode controller to guarantee fixed-time tracking performance in the presence of external disturbances and system uncertainties, where the settling time is only dependent on user-defined control parameters rather than initial values. The unwinding problem caused by the redundancy of dual quaternion is handled by a novel attitude error function. Moreover, optimal quadratic programming is incorporated into null space pseudo-inverse control allocation that ensures the actuation smoothness and never violates the maximum output capability of each actuator. Numerical simulations on a spacecraft platform with symmetric thruster configuration demonstrate the validity of the proposed approach.

show abstract

“…The linear mapping between

and

where

, namely

.…”

Section: Optimal Control Torque Allocation Strategymentioning

confidence: 99%

Fixed-time regulation of spacecraft orbit and attitude coordination with optimal actuation allocation using dual quaternion

et al. 2023

View full text Add to dashboard Cite

show abstract

“…The linear mapping between ûa and ûc is presented through the PI control allocation. However, the solution given by (28) may not satisfy the practical thruster range with the limitation of the thruster configuration [19]. Thus, the optimal solution can be improved by employing the null space of the control allocation matrix…”

Section: A Null Space Based Pseudo Inverse (Nspi) Control Allocationmentioning

confidence: 99%

Dual Quaternion Based Finite-Time Tracking Control for Mechatronic Systems with Actuation Allocation

Sun

Huang

Wang

et al. 2022

2022 27th International Conference on Automation and Computing (ICAC)

View full text Add to dashboard Cite

This paper investigates the tracking control performance regulation and actuation allocation of mechatronic systems subject to coupling motions. In particular, the kinematic and dynamic model is described by dual quaternion, which captures the coupling effect between translation and rotation movements. Considering external disturbances and system uncertainties, a non-singular fast terminal sliding controller is then developed to ensure finite-time tracking performance. In addition, the unwinding problem caused by the redundancy of dual quaternion is addressed with the help of a novel attitude error function. Furthermore, an improved simplex method is designed for distributing the developed control commands to proper actuators. Numerical simulations demonstrate the effectiveness with respect to disturbance suppression, fast tracking, high accuracy, and finite-time stability of the proposed method.

show abstract

“…However, computation of the projection in Eq. (16) invalidates the prior assumption that the inverse images of R i have no intersection in R m . This complication precludes the analytic computation of the particular AMS using Eq.…”

Section: B Generalized Inverses and Constraintsmentioning

confidence: 99%

“…More recently, an interest has developed in considering higher-dimensional objective spaces, such as structural loads [10,11], the supporting theory for which was explored by Beck [12]. In the context of solving the three-moment constrained control allocation problem, much of the existing literature has focused on efficient numerical optimization methods that are practically implementable in the flight software [2,8,[13][14][15][16], relaxing the requirement that the moments are globally linear in the controls [17,18], explicit consideration of the actuator dynamics [19], and fault tolerance [20,21].…”

Section: Introductionmentioning

confidence: 99%

High-Efficiency Thrust Vector Control Allocation

Orr

Slegers

2014

Journal of Guidance, Control, and Dynamics

View full text Add to dashboard Cite

A generalized approach to the allocation of redundant thrust vector slew commands for multi-actuated launch vehicles is presented, where deflection constraints are expressed as omniaxial or elliptical deflection limits in gimbal axes. More importantly than in the aircraft control allocation problem, linear allocators (pseudoinverses) are preferred for large booster applications to facilitate accurate prediction of the control-structure interaction resulting from thrust vectoring effects. However, strictly linear transformations for the allocation of redundant controls cannot, in general, access all of the attainable moments for which there is a set of control effector positions that satisfies the constraints. In this paper, the control allocation efficiency of a certain class of linear allocators subject to multiple quadratic constraints is analyzed, and a novel single-pass control allocation scheme is proposed that augments the pseudoinverse near the boundary of the attainable set. The controls are determined over a substantial volume of the attainable set using only a linear transformation; as such, the algorithm maintains compatibility with frequencydomain approaches to the analysis of the vehicle closed-loop elastic stability. Numerical results using a model of a winged reusable booster system illustrate the proposed technique's ability to access a larger fraction of the attainable set than a pseudoinverse alone. Nomenclature a ij = principal axis lengths of ith constraint ellipsoid, rad B = control effectiveness sensitivity matrix, 1∕s 2 B i = submatrix of B associated with ith engine, 1∕s 2 c i = constraint scaling constant associated with ith engine F i = thrust force of ith engine, lbf H = scalar cost function I = identity matrix i G ,ĵ G ,k G = orthonormal basis of gimbal frame G J = rigid body moment of inertia tensor, slug · ft 2 k = number of engines l = unit vector in R n M = moment sensitivity matrix, ft · lbf∕rad m = number of control inputs; 2k N P = matrix with columns forming a basis for kernel of PB − I N B = matrix with columns forming a basis for kernel of B n = number of controlled degrees of freedom p = number of parameters used to determine a generalized inverse P R = null space projecting transformation r Gi = location of ith engine with respect to vehicle center of mass, ft S = inverse allocation weight matrix T A i = thrust vector transformation matrix due to actuation T G i = transformation of nozzle angular degrees of freedom from gimbal to body u i , u 0 i = null-position and perturbed thrust unit vector, respectively W = allocation weight matrix Γ = perturbation angular acceleration, rad∕s 2 Γ c = perturbation angular acceleration, commanded, rad∕s 2 γ i = image of thrust deflection δ i under the transformation B i Δ = control vector of thrust deflections, rad Δ 0 , Δ s , Δ e = component of control vector within, on, and outside the admissible set, respectivelỹ Δ= augmented control vector, rad δ i = vector in R 2 of small thrust rotations in gimbal frame, rad E i R i = constraint el...

show abstract

A Modified Direct Allocation Algorithm with Application to Redundant Actuators

Cited by 21 publications

References 10 publications

Fixed-time regulation of spacecraft orbit and attitude coordination with optimal actuation allocation using dual quaternion

Fixed-time regulation of spacecraft orbit and attitude coordination with optimal actuation allocation using dual quaternion

Dual Quaternion Based Finite-Time Tracking Control for Mechatronic Systems with Actuation Allocation

High-Efficiency Thrust Vector Control Allocation

Contact Info

Product

Resources

About