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    Computationally efficient control allocation

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    6278908.pdf (1.643Mb)
    Downloads: 139
    Publication Date
    2001-08-21
    Filing Date
    2000-08-10
    Inventor
    Durham, Wayne
    Metadata
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    Abstract
    A computationally efficient method for calculating near-optimal solutions to the three-objective, linear control allocation problem is disclosed. The control allocation problem is that of distributing the effort of redundant control effectors to achieve some desired set of objectives. The problem is deemed linear if control effectiveness is affine with respect to the individual control effectors. The optimal solution is that which exploits the collective maximum capability of the effectors within their individual physical limits. Computational efficiency is measured by the number of floating-point operations required for solution. The method presented returned optimal solutions in more than 90% of the cases examined; non-optimal solutions returned by the method were typically much less than 1% different from optimal and the errors tended to become smaller than 0.01% as the number of controls was increased. The magnitude of the errors returned by the present method was much smaller than those that resulted from either pseudo inverse or cascaded generalized inverse solutions. The computational complexity of the method presented varied linearly with increasing numbers of controls; the number of required floating point operations increased from 5.5 i, to seven times faster than did the minimum-norm solution (the pseudoinverse), and at about the same rate as did the cascaded generalized inverse solution. The computational requirements of the method presented were much better than that of previously described facet-searching methods which increase in proportion to the square of the number of controls.
    Assignee
    Virginia Tech Intellectual Properties, Inc.
    Patent Number
    6278908
    Application Number
    9635684
    Source URL
    http://pimg-fpiw.uspto.gov/fdd/08/789/062/0.pdf
    Primary/U.S. Class
    318/567
    Other/U.S. Class
    318/568.11
    318/568.2
    342/90
    342/96
    700/262
    700/1
    700/245
    700/251
    700/252
    701/23
    901/30
    CPC Class
    G05B13/02
    G05B2219/39258
    Patent Type
    utility
    URI
    http://hdl.handle.net/10919/72434
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