A New Method to Compute Generalized Inverses for Control Allocation

Martin Kirchengast, Martin Steinberger, Martin Horn

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


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.
Original languageEnglish
Title of host publicationProceedings of the 55th IEEE Conference on Decision and Control
PublisherInstitute of Electrical and Electronics Engineers
Number of pages7
ISBN (Electronic)978-1-5090-1837-6
Publication statusPublished - 2016
Event 55th IEEE Conference on Decision and Control - ARIA Resort & Casino, Las Vegas, United States
Duration: 12 Dec 201614 Dec 2016


Conference 55th IEEE Conference on Decision and Control
Country/TerritoryUnited States
CityLas Vegas
Internet address

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