Adaptive control allocation for constrained systems

Constrained Control Allocation for Linear Systems with Internal Dynamics

Abstract: This paper presents a new control allocation design method for overactuated linear systems with internal dynamics and input constraints. The control inputs are designed to implement constrained control allocation and guaranteed stability of the closed-loop system. An LMI-based sufficient condition is provided to solve the control allocation problem. The proposed approach is demonstrat...

Adaptive model predictive control for constrained, linear time varying systems

We consider a discrete-time, linear time varying (LTV), multiple input, multiple output (MIMO) system with nu inputs and ny outputs. The system is known to be asymptotically stable, but the exact dynamics and the way they change over time are not known. We denote the vector of control inputs at time step t ∈ Z by u(t) = [u1(t), . . . , unu(t)] T , where ui(t) ∈ R, i = 1, . . . , nu are the indi...

Adaptive model predictive control for constrained nonlinear systems

A true adaptive nonlinear model predictive control (MPC) algorithm must address the issue of robustness to model uncertainty while the estimator is evolving. Unfortunately, this may not be achieved without introducing extra degree of conservativeness and/or computational complexity in the controller calculations. To attenuate this problem, we employ a finite time identifier and propose an adapt...

Model-Adaptive Hybrid Dynamic Control For Constrained Motion Systems

Adaptive Actuators Allocation Strategies for Overactuated Networked Control Systems

This paper presents a preliminary adaptive actuators allocation scheme that is fault-tolerant with respect to actuator faults or loss of effectiveness for overactuated networked systems. The main idea here is to use an ad-hoc online parameter estimator coupled with an allocation algorithm to perform on-line control reconfiguration. Two simple algorithms are proposed for nonlinear discretetime s...