What is control allocation?
The dynamic or algorithm that distributes control signals among redundant actuators is called control allocation method. Applications of actuator redundancy and control allocation have been growing in recent years in various domains such as aerial vehicles, marine vehicles, automobiles, robotics, and power systems, due to their benefits like increasing the range of maneuvers and fault tolerance.
Control allocation categories
Due to the vast application of control allocation methods, different approaches exist in the literature. These methods can be categorized into the following categories: (1) pseudo-inverse based methods, (2) optimization-based strategies, (3) dynamic methods.
Why adaptive control allocation?
Adaptive control allocation methods can be categorized into the third control allocation category, the dynamic methods. When dealing with uncertain actuators, most control allocation methods require additional estimation or identification algorithms or persistent excitation assumption to handle uncertainty. On the other hand, adaptive control allocation allocates control signals among uncertain redundant actuators without any additional algorithm or persistency of excitation assumption.
Shahab Tohidi, and Yildiray Yildiz, “Discrete Adaptive Control Allocation,” American Control Conference (ACC), accepted, 2021.
Shahab Tohidi, Yildiray Yildiz, and Ilya Kolmanovsky, “Control allocation for constrained systems,” Automatica, accepted, 2020.
Shahab Tohidi, Yildiray Yildiz, and Ilya Kolmanovsky, “Model reference adaptive control allocation for constrained systems with guaranteed closed loop stability,” arXiv preprint arXiv:1909.10036, 2019.
Shahab Tohidi, Yildiray Yildiz, and Ilya Kolmanovsky, “Pilot induced oscillation mitigation for unmanned aircraft systems: an adaptive control allocation approach,” IEEE Conference on Control Technology and Applications (CCTA), 2018.
Shahab Tohidi, Yildiray Yildiz, and Ilya Kolmanovsky, “Adaptive control allocation for over-actuated systems with actuator saturation,” International Federation of Automatic Control (IFAC), 2017.
Shahab Tohidi, Yildiray Yildiz, and Ilya Kolmanovsky, “Fault tolerant control for over-actuated systems: an adaptive correction approach,” American control conference (ACC), 2016.