A New Method to Compute Generalized Inverses for Control Allocation

Martin Kirchengast; Martin Steinberger; Martin Horn

doi:10.1109/CDC.2016.7799086

A New Method to Compute Generalized Inverses for Control Allocation

Martin Kirchengast, Martin Steinberger, Martin Horn

Institut für Regelungs- und Automatisierungstechnik (4430)

Publikation: Beitrag in Buch/Bericht/Konferenzband › Beitrag in einem Konferenzband › Begutachtung

Abstract

Modern mechatronic systems are often equipped with a set of redundant actuators due to different operating points and high reliability requirements. One possibility to deal with such systems incorporates a separation between the control task and the distribution of the control effort among the actuators (so-called control allocation). In case of a linear plant model a factorization of the input matrix has to be carried out. The relationship between factorizations can be described by means of invertible transformation matrices. This work investigates the impact of factorization on the computation of generalized inverses and their usage for control allocation. Based on these results a new method for generating generalized inverses, which allow a more effective usage of the available actuators, is developed.

Originalsprache	englisch
Titel	Proceedings of the 55th IEEE Conference on Decision and Control
Herausgeber (Verlag)	Institute of Electrical and Electronics Engineers
Seiten	5328-5334
Seitenumfang	7
ISBN (elektronisch)	978-1-5090-1837-6
DOIs	https://doi.org/10.1109/CDC.2016.7799086
Publikationsstatus	Veröffentlicht - 2016
Veranstaltung	55th IEEE Conference on Decision and Control - ARIA Resort & Casino, Las Vegas, USA / Vereinigte Staaten Dauer: 12 Dez. 2016 → 14 Dez. 2016 http://cdc2016.ieeecss.org/

Konferenz

Konferenz	55th IEEE Conference on Decision and Control
Land/Gebiet	USA / Vereinigte Staaten
Ort	Las Vegas
Zeitraum	12/12/16 → 14/12/16
Internetadresse	http://cdc2016.ieeecss.org/

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Kirchengast, M, Steinberger, M & Horn, M 2016, A New Method to Compute Generalized Inverses for Control Allocation. in Proceedings of the 55th IEEE Conference on Decision and Control. Institute of Electrical and Electronics Engineers, S. 5328-5334, 55th IEEE Conference on Decision and Control, Las Vegas, USA / Vereinigte Staaten, 12/12/16. https://doi.org/10.1109/CDC.2016.7799086

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abstract = "Modern mechatronic systems are often equipped with a set of redundant actuators due to different operating points and high reliability requirements. One possibility to deal with such systems incorporates a separation between the control task and the distribution of the control effort among the actuators (so-called control allocation). In case of a linear plant model a factorization of the input matrix has to be carried out. The relationship between factorizations can be described by means of invertible transformation matrices. This work investigates the impact of factorization on the computation of generalized inverses and their usage for control allocation. Based on these results a new method for generating generalized inverses, which allow a more effective usage of the available actuators, is developed.",

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M3 - Conference paper

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BT - Proceedings of the 55th IEEE Conference on Decision and Control

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ER -

A New Method to Compute Generalized Inverses for Control Allocation

Abstract

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