**Page description appears here**

“Optimizing Adaptive Control Allocation With Actuator Dynamics”

Authors: Johannes Tjønnås and Tor A. Johansen,
Affiliation: NTNU, Department of Engineering Cybernetics
Reference: 2008, Vol 29, No 2, pp. 69-76.

     Valid XHTML 1.0 Strict


Keywords: Control allocation; Adaptive control; Nonlinear systems

Abstract: In this work we address the optimizing control allocation problem for an over-actuated nonlinear time- varying system with actuator dynamic where parameters affine in the actuator and effector model may be assumed unknown. Instead of optimizing the control allocation at each time instant, a dynamic approach is considered by constructing actuator reference update-laws that represent an asymptotically optimal allocation search. By using Lyapunov analysis for cascaded set-stable systems, uniform global/local asymptotic stability is guaranteed for the optimal equilibrium sets described by the system, the control allocation update-law and the adaptive update-law, if some persistence of exitation condition holds. Simulations of a scaled-model ship, manoeuvred at low-speed, demonstrate the performance of the proposed allocation scheme.

PDF PDF (1033 Kb)        DOI: 10.4173/mic.2008.2.4



References:
[1] Bodson, M. (2002). Evaluation of optimization methods for control allocation, J. Guidance, Control and Dynamics, 25:703-711 doi:10.2514/2.4937
[2] Buffington, J. M., Enns, D. F., Teel, A. R. (1998). Control allocation and zero dynamics, J. Guidance, Control and Dynamics. 21:458-464 doi:10.2514/2.4258
[3] Enns, D. (1998). Control allocation approaches, In Proc. AIAA Guidance, Navigation and Control Conference and Exhibit, Boston MA. pp. 98-108.
[4] Fossen, T. I. Blanke, M. (2000). Nonlinear output feed- back control of underwater vehicle propellers using feedback form estimated axial flow velocity, IEEE Journal of Oceanic Engineering. 2.2:241-255 doi:10.1109/48.838987
[5] Härkegård, O. (2002). Efficient active set algorithms for solving constrained least squares problems in aircraft control allocation, In Proc. IEEE Conf. Decision and Control, Las Vegas NV.
[6] Johansen, T. A. (2004). Optimizing nonlinear control allocation, Proc. IEEE Conf. Decision and Control. Bahamas, pp. 3435-3440.
[7] Johansen, T. A., Fossen, T. I., Berge, S. P. (2004). Constrained nonlinear control allocation with singularity avoidance using sequential quadratic programming, IEEE Trans. Control Systems Technology, 12:211-216 doi:10.1109/TCST.2003.821952
[8] Johansen, T. A., Fossen, T. I., Tøndel, P. (2005). Efficient optimal constrained control allocation via multiparametric programming, AIAA J. Guidance, Control and Dynamics, 28:506-515 doi:10.2514/1.10780
[9] Lin, Y., Sontag, E. D., Wang, Y. (1996). A smooth converse lyapunov theorem for robust stability, SIAM Journal on Control and Optimization, 34:124-160 doi:10.1137/S0363012993259981
[10] Lindegaard, K. P. Fossen, T. I. (2003). Fuel-efficient rudder and propeller control allocation for marine craft: Experiments with a model ship, IEEE Trans. Control Systems Technology. 11:850-862 doi:10.1109/TCST.2003.815613
[11] Luo, Y., Serrani, A., Yurkovich, S., Doman, D., Oppenheimer, M. (2004). Model predictive dynamic control allocation with actuator dynamics, In Proceedings of the 2004 American Control Conference, Boston, MA.
[12] Luo, Y., Serrani, A., Yurkovich, S., Doman, D., Oppenheimer, M. (2005). Dynamic control allocation with asymptotic tracking of time-varying control trajectories, In Proceedings of the 2005 American Control Conference, Portland, OR.
[13] Pivano, L., Johansen, T. A., Smogeli, Ø. N., Fossen, T. I. (2007). Nonlinear Thrust Controller for Marine Propellers in Four-Quadrant Operations, American Control Conference.ACC, New York, USA.
[14] Pivano, L., Smogeli, Ø. N., Johansen, T. A., Fossen, T. I. (2006). Marine propeller thrust estimation in four-quadrant operations, 45th IEEE Conference on Decision and Control, San Diego, CA, USA.
[15] Poonamallee, V., Yurkovich, S., Serrani, A., Doman, D., Oppenheimer, M. (2005). Dynamic control allocation with asymptotic tracking of time-varying control trajectories, In Proceedings of the 2004 American Control Conference, Boston, MA.
[16] Sørdalen, O. J. (1997). Optimal thrust allocation for marine vessels, Control Engineering Practice, 5:1223-1231 doi:10.1016/S0967-0661(97)84361-4
[17] Sørensen, A. J., Ådnanes, A. K., Fossen, T. I., Strand, J. P. (1997). A new method of thruster control in positioning of ships based on power control, Proc. 4th IFAC Conf. Manoeuvering and Control of Marine Craft, Brijuni, Croatia.
[18] Teel, A., Panteley, E., Loria, A. (2002). Integral characterization of uniform asymptotic and exponential stability with applications, Maths. Control Signals and Systems. 15:177-201 doi:10.1007/s004980200007
[19] Tjønnås, J., Chaillet, A., Panteley, E., Johansen, T. A. (2006). Cascade lemma for set-stabile systems, 45th IEEE Conference on Decision and Control, San Diego, CA.
[20] Tjønnås, J. Johansen, T. A. (2005). Adaptive optimizing nonlinear control allocation, In Proc. of the 16th IFAC World Congress, Prague, Czech Republic.
[21] Tjønnås, J. Johansen, T. A. (2007). On optimizing nonlinear adaptive control allocation with actuator dynamics, 7th IFAC Symposium on Nonlinear Control Systems, Pretoria, South Africa.


BibTeX:
@article{MIC-2008-2-4,
  title={{Optimizing Adaptive Control Allocation With Actuator Dynamics}},
  author={Tjønnås, Johannes and Johansen, Tor A.},
  journal={Modeling, Identification and Control},
  volume={29},
  number={2},
  pages={69--76},
  year={2008},
  doi={10.4173/mic.2008.2.4},
  publisher={Norwegian Society of Automatic Control}
};

News

July 2015: MIC's new impact factor is now 0.778. The number of papers published in 2014 was 21 compared to 15 in 2013, which partially explains the small decrease in impact factor.


Aug 2014: For the 3rd year in a row MIC's impact factor increases. It is now 0.826.


Dec 2013: New database-driven web-design enabling extended statistics. Article number 500 is published and MIC reaches 1000 DOI Forward Links.


Jan 2012: Follow MIC on your smartphone by using the RSS feed.

Smartphone


July 2011: MIC passes 1000 ISI Web of Science citations.


Mar 2010: MIC is now indexed by DOAJ and has received the Sparc Seal seal for open access journals.


Dec 2009: A MIC group is created at LinkedIn and Twitter.


Oct 2009: MIC is now fully updated in ISI Web of Knowledge.