A formulation of control allocation problem by several quadratic programming sub-problems and application for the motion control

Abstract

This paper proposes a control allocation method for the motion control in which the number of manipulated variables is one more than control degree of freedom. Proposed method is formulated as an optimization problem including several Quadratic Programming sub-problems (QPs), and can calculate optimal allocation in real-time. The real-time performance is improved by the Parallel Quadratic Programming (PQP) method. The effect of the proposed method is verified by numerical simulations in terms of control response and calculation time. Furthermore, in order to suppress the steep change of manipulated variables in proposed method, rate limiter process is added to the latter part of proposed method. It indicates by numerical simulations even if rate limiter process is provided after the optimization calculation, it is possible to perform a trajectory tracking by feedback control.

Keywords

• redundancy
• control allocation
• quadratic programming
• linear constraint
• real-time optimization
• motion control