Control allocation based on adaptive nonlinear dynamic inverse and adaptive pseudo-inverse

Abstract

The multi-actuator configuration of aircraft generates the control allocation method to realize fault tolerant control. How to make the best use of healthy actuators under position constraints in the presence of some actuator faults is a main problem of control allocation. The safety of aircraft is closely related to the allocation results because the position constraints make it difficile to get the desired performances, especially in fault case. In this paper, firstly, unlike traditional nonlinear dynamic inverse method, an adaptive bandwidth module is added to regenerate the attainable command once an actuator is saturated. Secondly, an adaptive pseudo-inverse method is proposed with the target of preventing the overdriving of actuators. The proposed control scheme is applied to a nonlinear aircraft model.