Nullspace-Based Input Reconfiguration Architecture for Overactuated Aerial Vehicles
A 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 f...
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| Veröffentlicht in: | IEEE transactions on control systems technology 2018-09, Vol.26 (5), p.1826-1833 |
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| container_title | IEEE transactions on control systems technology |
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| creator | Peni, Tamas Vanek, Balint Liptak, Gyorgy Szabo, Zoltan Bokor, Jozsef |
| description | A 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. |
| doi_str_mv | 10.1109/TCST.2017.2737622 |
| format | Article |
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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.</description><subject>Aerospace control</subject><subject>Aircraft components</subject><subject>Aircraft control</subject><subject>Algorithm design and analysis</subject><subject>Architecture</subject><subject>Computer architecture</subject><subject>control input reallocation</subject><subject>Control systems</subject><subject>Fault tolerance</subject><subject>fault tolerant control (FTC)</subject><subject>Generators</subject><subject>Heuristic algorithms</subject><subject>Kernel</subject><subject>linear parameter-varying (LPV) systems</subject><subject>null space computation</subject><subject>Parameter uncertainty</subject><subject>Reconfiguration</subject><issn>1063-6536</issn><issn>1558-0865</issn><fulltext>true</fulltext><rsrctype>article</rsrctype><creationdate>2018</creationdate><recordtype>article</recordtype><sourceid>RIE</sourceid><recordid>eNo9kN9LwzAQx4MoOKd_gPhS8LkzlzRN8jiHPwbiwE1fQ5pdXUdta9IK_vembPh0d_D93n3vQ8g10BkA1XebxXozYxTkjEkuc8ZOyASEUClVuTiNPc15mguen5OLEPaUQiaYnJD161DXobMO03sbcJssm27okzd0bVNWn4O3fdU2ydy7XdWj6wePSdn6ZPWD3sbR9tEzR1_ZOvnAXeVqDJfkrLR1wKtjnZL3x4fN4jl9WT0tF_OX1HGe9ylTWheZFQXNmI75tKNQFMIxKbXQijtWUg1QKOWE3YoCOS-lgq11Wqj4KZ-S28PezrffA4be7NvBN_GkYQASGMu0jio4qJxvQ_BYms5XX9b_GqBmZGdGdmZkZ47soufm4KkQ8V-vRmhU8z-UiWom</recordid><startdate>201809</startdate><enddate>201809</enddate><creator>Peni, Tamas</creator><creator>Vanek, Balint</creator><creator>Liptak, Gyorgy</creator><creator>Szabo, Zoltan</creator><creator>Bokor, Jozsef</creator><general>IEEE</general><general>The Institute of Electrical and Electronics Engineers, Inc. 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| subjects | Aerospace control Aircraft components Aircraft control Algorithm design and analysis Architecture Computer architecture control input reallocation Control systems Fault tolerance fault tolerant control (FTC) Generators Heuristic algorithms Kernel linear parameter-varying (LPV) systems null space computation Parameter uncertainty Reconfiguration |
| title | Nullspace-Based Input Reconfiguration Architecture for Overactuated Aerial Vehicles |
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