Joint motion control and control allocation design for UAS flight control systems
Perez, Tristan, Donaire, Alejandro, de Lamberterie, Pierre, & Williams, Brendan (2011) Joint motion control and control allocation design for UAS flight control systems. In Proceedings of Infotech@Aerospace 2011, American Institute of Aeronautics and Astronautics, St. Louis, Missouri, pp. 1461-1477.
As Unmanned Aircraft Systems (UAS) grow in complexity, and their level of autonomy increases|moving away from the concept of a remotely piloted systems and more towards autonomous systems|there is a need to further improve reliability and tolerance to faults. The traditional way to accommodate actuator faults is by using standard control allocation techniques as part of the flight control system. The allocation problem in the presence of faults often requires adding constraints that quantify the maximum capacity of the actuators. This in turn requires on-line numerical optimisation. In this paper, we propose a framework for joint allocation and constrained control scheme via vector input scaling. The actuator configuration is used to map actuator constraints into the space of the aircraft generalised forces, which are the magnitudes demanded by the light controller. Then by constraining the output of controller, we ensure that the allocation function always receive feasible demands. With the proposed framework, the allocation problem does not require numerical optimisation, and since the controller handles the constraints, there is not need to implement heuristics to inform the controller about actuator saturation.
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|Item Type:||Conference Paper|
|Divisions:||Current > Schools > School of Electrical Engineering & Computer Science
Current > QUT Faculties and Divisions > Science & Engineering Faculty
|Copyright Owner:||Copyright 2011 American Institute for Aeronautics and Astronautics|
|Deposited On:||08 May 2014 23:01|
|Last Modified:||11 Jun 2014 04:41|
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