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...

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...

This paper considers actuator redundancy management for a class of overactuated nonlinear systems. Two tools for distributing the control effort among a redundant set of actuators are optimal control design and control allocation. In this paper, we investigate the relationship between these two design tools when the performance indexes are quadratic in the control input. We show that for a part...

The spacecraft simulator robust control through H∞-based linear matrix inequality (LMI) and robust adaptive method is  implemented. The spacecraft attitude control subsystem simulator consists of  a  platform, an air-bearing and a set of four reaction wheels. This set up provides a free real-time three degree of freedom rotation. Spacecraft simulators are applied in upgrading and checking the c...

We present a method for computing energy optimal trajectories for an overactuated wheeled robot under quasistatic conditions, enabling it to climb over discontinuous terrain. The trajectories can be arbitrarily close to optimal with respect to energy, depending on available computing resources. We apply our approach to control the Goes-Over-All-Terrain (GOAT) vehicle. The GOAT has four active w...

This paper presents a preliminary adaptive control allocation scheme for overactuated autonomous vehicles that is fault-tolerant with respect to actuator faults or loss of effectiveness. The main idea here is to use an ad-hoc online parameter estimator coupled with an allocation algorithm to perform on-line control reconfiguration. A simple algorithm is proposed for nonlinear discrete-time syst...