Nullspace-Based Input Reconfiguration Architecture for Overactuated Aerial Vehicles
2017; Institute of Electrical and Electronics Engineers; Volume: 26; Issue: 5 Linguagem: Inglês
10.1109/tcst.2017.2737622
ISSN2374-0159
AutoresTamás Péni, Bálint Vanek, György Lipták, Zoltán Szabó, J. Bokor,
Tópico(s)Control Systems and Identification
ResumoA dynamic input reconfiguration architecture is proposed for overactuated aerial vehicles to accommodate actuator failures. The method is based on the dynamic nullspace computed from the linear parameter-varying model of the plant dynamics. If there is no uncertainty in the system, then any signal filtered through the nullspace has no effect on the plant outputs. This makes it possible to reconfigure the inputs without influencing the nominal control loop and thus the nominal control performance. Since the input allocation mechanism is independent of the structure of the baseline controller, it can be applied even if the baseline controller is not available in analytic form. The applicability of the proposed algorithm is demonstrated via the case study of designing a fault tolerant controller for the Rockwell B-1 Lancer aircraft.
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