A Fast Quadratic Program Solver for Constrained Control Allocation

Martin Kirchengast, Martin Steinberger, Martin Horn

Research output: Chapter in Book/Report/Conference proceedingConference paperpeer-review


Systems with a redundant set of actuators are to be found in many domains which are characterized by high demands on reliability and performance. The ambiguity in the choice of actuator commands caused by redundancy can be resolved by control allocation (CA). One variant of CA involves the formulation of constrained quadratic programs which have to be solved during controller operation. The corresponding method proposed in this work is based on the well-known penalty function method and enables a fast solution of those optimization problems. Two strategies for dealing with infeasible CA problems are suggested. After introducing the concepts extensive randomized tests with comparisons to established solvers demonstrate the effectiveness of the algorithm.
Original languageEnglish
Title of host publicationProceedings of the 57th IEEE Conference on Decision and Control
PublisherInstitute of Electrical and Electronics Engineers
Number of pages7
Publication statusPublished - 2018
Event57th IEEE Conference on Decision and Control - Miami Beach, United States
Duration: 17 Dec 201819 Dec 2018


Conference57th IEEE Conference on Decision and Control
Abbreviated titleCDC 2018
Country/TerritoryUnited States
CityMiami Beach

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