TY - JOUR
T1 - A Survey of Optimal Control Allocation for Aerial Vehicle Control
AU - Blaha, T.M.
AU - Smeur, E.J.J.
AU - Remes, B.D.W.
PY - 2023
Y1 - 2023
N2 - In vehicle control, control allocation is often used to abstract control variables from actuators, simplifying controller design and enhancing performance. Surveying available literature reveals that explicit solutions are restricted to strong assumptions on the actuators, or otherwise fail to exploit the capabilities of the actuator constellation. A remedy is to formulate hierarchical minimization problems that take into account the limits of the actuators at the expense of a longer computing time. In this paper, we compared the most common norms of the objective functions for linear or linearized plants, and show available numeric solver types. Such a comparison has not been found in the literature before and indicates that some combinations of linear and quadratic norms are not sufficiently researched. While the bulk of the review is restricted to control-affine plant models, some extensions to dynamic and nonlinear allocation problems are shown. For aerial vehicles, a trend toward linearized incremental control schemes is visible, which forms a compromise between real-time capabilities and the ability to resolve some nonlinearities common in these vehicles.
AB - In vehicle control, control allocation is often used to abstract control variables from actuators, simplifying controller design and enhancing performance. Surveying available literature reveals that explicit solutions are restricted to strong assumptions on the actuators, or otherwise fail to exploit the capabilities of the actuator constellation. A remedy is to formulate hierarchical minimization problems that take into account the limits of the actuators at the expense of a longer computing time. In this paper, we compared the most common norms of the objective functions for linear or linearized plants, and show available numeric solver types. Such a comparison has not been found in the literature before and indicates that some combinations of linear and quadratic norms are not sufficiently researched. While the bulk of the review is restricted to control-affine plant models, some extensions to dynamic and nonlinear allocation problems are shown. For aerial vehicles, a trend toward linearized incremental control schemes is visible, which forms a compromise between real-time capabilities and the ability to resolve some nonlinearities common in these vehicles.
UR - http://www.scopus.com/inward/record.url?scp=85165961056&partnerID=8YFLogxK
U2 - 10.3390/act12070282
DO - 10.3390/act12070282
M3 - Article
SN - 2076-0825
VL - 12
JO - Actuators
JF - Actuators
IS - 7
M1 - 282
ER -