What is control allocation?

The dynamic or algorithm that distributes control sygnals among redundant actuators is called control allocation method. Applications of actuator redundancy and control allocation has 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 categorize into the following categories: (1) pseudo-inverse based methods, (2) optimization based methods, (3) dynamic methods. A detailed description of these methods can be found here.

Why adaptive control allocation?

Adaptive control allocation methods can be categorize into the third control allocation category, that is, dynamic method. When dealing with uncertain actuators, most control allocation methods require additional estimation or identification algorithms, or persistent excitation assumption to handle uncertainty. Adaptive control allocation, on the other hand, allocates control signals among uncertain redundant actuators without any additional algorithm or persistent excitation assumption. 

Related references

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.