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Control allocation—A survey

Tor A. Johansen, Thor I. Fossen
<span title="">2013</span> <i title="Elsevier BV"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/e5pgtxytlra45muqmfmoj6kvte" style="color: black;">Automatica</a> </i> &nbsp;
The simplest formulations allow explicit solutions to be computed using numerical linear algebra in combination with some logic and engineering solutions, while the more challenging formulations with nonlinear  ...  The control algorithm hierarchy of motion control for over-actuated mechanical systems with a redundant set of effectors and actuators commonly includes three levels.  ...  Extending the unconstrained optimization problem formulation (12) with input constraints leads to formulations such as (8).  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1016/j.automatica.2013.01.035">doi:10.1016/j.automatica.2013.01.035</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/vvor3lf7yberrd7zurpmfkkeie">fatcat:vvor3lf7yberrd7zurpmfkkeie</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20170921234005/http://folk.ntnu.no/torarnj/ca_survey_final.pdf?id=ansatte/Johansen_Tor.Arne/ca_survey_final.pdf" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/ab/58/ab58700fcd4fecf7c3992cd06c88cdc939362c30.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1016/j.automatica.2013.01.035"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="external alternate icon"></i> elsevier.com </button> </a>

A linear programming framework for networked control system design∗∗This research was in part supported by NSF NetSE, AFOSR, the Institute for Collaborative Biotechnologies through grant W911NF-09-0001 from the U.S. Army Research O_ce

Yorie Nakahira, Seungil You
<span title="">2015</span> <i title="Elsevier BV"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/4oklsgzkjvbihhegxblzc6b7re" style="color: black;">IFAC-PapersOnLine</a> </i> &nbsp;
The second involves nonlinear error dynamics comprised of sampling, quantization, delay and saturation errors. We show how to construct an invariant set of the error dynamics using a linear program.  ...  The second involves nonlinear error dynamics comprised of sampling, quantization, delay and saturation errors. We show how to construct an invariant set of the error dynamics using a linear program.  ...  Rotkowitz and Lall (2006) found that quadratically invariant information constraints produce a convex formulation of optimal control problem.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1016/j.ifacol.2015.10.303">doi:10.1016/j.ifacol.2015.10.303</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/xe35idbrxzh3zbtyq7ibzntjtq">fatcat:xe35idbrxzh3zbtyq7ibzntjtq</a> </span>
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Page 3953 of Mathematical Reviews Vol. , Issue 2003e [page]

<span title="">2003</span> <i title="American Mathematical Society"> <a target="_blank" rel="noopener" href="https://archive.org/details/pub_mathematical-reviews" style="color: black;">Mathematical Reviews </a> </i> &nbsp;
As a result, the estimation of the domain of attraction for a given set of feedback gains is then formulated as an optimization problem with LMI constraints.  ...  Problems of optimal robust control design lead to optimization problems with a linear objective function, linear matrix inequality constraints and nonlinear matrix equality constraints.  ... 
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Robust stability analysis and fuzzy-scheduling control for nonlinear systems subject to actuator saturation

Yong-Yan Cao, Zongli Lin
<span title="">2003</span> <i title="Institute of Electrical and Electronics Engineers (IEEE)"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/7dwepyc5xbc47narcaqganu4vu" style="color: black;">IEEE transactions on fuzzy systems</a> </i> &nbsp;
In this paper, the TS fuzzy modeling approach is utilized to carry out the stability analysis and control design for nonlinear systems with actuator saturation.  ...  Based on this set invariance condition, the problem of estimating the domain of attraction of a TS fuzzy system under a constant state feedback law is formulated and solved as a linear matrix inequality  ...  This paper takes the fuzzy control approach to dealing with stability analysis and control design of nonlinear systems with actuator saturation.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/tfuzz.2002.806317">doi:10.1109/tfuzz.2002.806317</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/cpqqcgbz5rharli3ovx2oruy44">fatcat:cpqqcgbz5rharli3ovx2oruy44</a> </span>
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A Survey of Control Allocation Methods for Ships and Underwater Vehicles

Thor I. Fossen, Tor A. Johansen
<span title="">2006</span> <i title="IEEE"> 2006 14th Mediterranean Conference on Control and Automation </i> &nbsp;
Control allocation problems for marine vessels can be formulated as optimization problems, where the objective typically is to minimize the use of control effort (or power) subject to actuator rate and  ...  In addition, singularity avoidance for vessels with azimuthing thrusters represent a challenging problem since a non-convex nonlinear program must be solved.  ...  INTRODUCTION Overactuated control allocation problems are naturally formulated as optimization problems as one usually wants to take advantage of all available degrees of freedom (DOF) in order to minimize  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/med.2006.328749">doi:10.1109/med.2006.328749</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/r65p6f43tjddris3kcqv3doqvu">fatcat:r65p6f43tjddris3kcqv3doqvu</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20200320011941/http://folk.ntnu.no/torarnj/FossenJohansen%20MED2006.pdf" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/f5/b8/f5b8a9934dc48d03929163d8c6eaf64c149fe309.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/med.2006.328749"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="external alternate icon"></i> ieee.com </button> </a>

Robust State Feedback Control Through Actuators With Generalized Sector Nonlinearities And Saturation

Chih-Chin Hsu, I-Kong Fong
<span title="2008-10-22">2008</span> <i title="Wiley"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/qcoh5xllgzfubn54l2x3faw2em" style="color: black;">Asian journal of control</a> </i> &nbsp;
As an important special case of the generalized sector condition, the saturation characteristic of actuators is discussed separately, and non-conservative results are obtained. has been working on servo  ...  In control systems, actuators often have nonlinear characteristics that can not be neglected.  ...  Though many actuators are manufactured so as to have pretty good linear characteristics over their main operation ranges, nonlinearities, such as deadzone and saturation, inevitably exist.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1111/j.1934-6093.2003.tb00130.x">doi:10.1111/j.1934-6093.2003.tb00130.x</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/kwu3zccg55eg3fez5wfi2edrue">fatcat:kwu3zccg55eg3fez5wfi2edrue</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20170808071434/http://www.ajc.org.tw/pages/PAPER/5.3PD/6FR-01-16R.pdf" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/43/88/43881a38ee0f6971f5c315945a606ef1d921a735.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1111/j.1934-6093.2003.tb00130.x"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="external alternate icon"></i> Publisher / doi.org </button> </a>

A hybrid formulation and design of model predictive control for systems under actuator saturation and backlash

Haslinda Zabiri, Yudi Samyudia
<span title="">2006</span> <i title="Elsevier BV"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/3zt33cshi5bxle5rzyv55b5txa" style="color: black;">Journal of Process Control</a> </i> &nbsp;
As a result, the constrained MPC design is formulated as solving a mixed-integer quadratic programming (MIQP) problem.  ...  The discrete characteristics of the actuator backlash allows us to mathematically express it as a set of mixed-integer linear inequalities constraint in the inputs.  ...  They would like to acknowledge the supports from McMaster Advanced Control Consortium and University of Technology PETRONAS, Malaysia.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1016/j.jprocont.2006.01.003">doi:10.1016/j.jprocont.2006.01.003</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/xpscdaxf2zhoxm6brgwksymrmu">fatcat:xpscdaxf2zhoxm6brgwksymrmu</a> </span>
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Low-complexity model predictive control of ElectroMagnetic actuators

R.M. Hermans, M. Lazar, S. Di Cairano, I. Kolmanovsky
<span title="">2009</span> <i title="IEEE"> IEEE EUROCON 2009 </i> &nbsp;
The resulting MPC problem is transformed into a low-complexity linear program that can be solved by modern microprocessors within tenths of milliseconds.  ...  Index Terms: Mechatronics, predictive control for nonlinear systems, stability of nonlinear systems. 978-1-4244-3861-7/09/$25.00 ©2009 IEEE  ...  The complexity problem is tackled by formulating the MPC optimization as a Mixed-Integer Quadratic Program (MIQP), in which the nonlinear saturation constraint (4) is lower bounded by a PWA approximation  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/eurcon.2009.5167917">doi:10.1109/eurcon.2009.5167917</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/fr3fxoqstfcctnrc3cycz4nko4">fatcat:fr3fxoqstfcctnrc3cycz4nko4</a> </span>
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Constrained Nonlinear Control Allocation With Singularity Avoidance Using Sequential Quadratic Programming

T.A. Johansen, T.I. Fossen, S.P. Berge
<span title="">2004</span> <i title="Institute of Electrical and Electronics Engineers (IEEE)"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/w55uhp5h3rdubpws6c5kic4vxm" style="color: black;">IEEE Transactions on Control Systems Technology</a> </i> &nbsp;
Control allocation problems can be formulated as optimization problems, where the objective is typically to minimize the use of control effort (or power) subject to actuator rate and position constraints  ...  Here we consider the additional objective of singularity avoidance, which is essential to avoid loss of controllability in some applications, leading to a non-convex nonlinear program.  ...  CONCLUSIONS It has been shown that singularities can be avoided in nonlinear constrained control allocation problems using a penalty term in a nonlinear programming formulation.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/tcst.2003.821952">doi:10.1109/tcst.2003.821952</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/nw36jt5s6bbvldowcli4b5ekaq">fatcat:nw36jt5s6bbvldowcli4b5ekaq</a> </span>
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Flight control system design with hierarchy-structured dynamic inversion and dynamic control allocation

Huidong Wang, Jianqiang Yi, Guoliang Fan
<span title="">2009</span> <i title="IEEE"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/hyrfp4q26bahtlwucwlaapnfwy" style="color: black;">2009 IEEE International Conference on Systems, Man and Cybernetics</a> </i> &nbsp;
The flight control design scheme is evaluated by numerical simulation on a nonlinear six degree-of-freedom aircraft model.  ...  A new flight control system design scheme is presented for attitude tracking problem, which integrates hierarchystructured nonlinear dynamic inversion (NDI) and dynamic control allocation techniques.  ...  Actuator dynamics [21] . The actuator dynamics are considered as a first-order model with the nonlinear effects of saturation and rate limits, which is shown in Fig. 2 .  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/icsmc.2009.5346006">doi:10.1109/icsmc.2009.5346006</a> <a target="_blank" rel="external noopener" href="https://dblp.org/rec/conf/smc/WangYF09.html">dblp:conf/smc/WangYF09</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/h5w3deeqlbd6pl52vot6rwevcu">fatcat:h5w3deeqlbd6pl52vot6rwevcu</a> </span>
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Research on Oscillation-Free Robust Control for Active Joint Dental Automation

Farzin Piltan, Meysam Esmaeili, Mohammad Ali Tayebi, Mahsa Piltan, Mojtaba Yaghoot, Nasri B. Sulaiman
<span title="2016-11-30">2016</span> <i title="Science and Engineering Research Support Society"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/rebsgv7gbjechhypg6np633rcu" style="color: black;">International Journal of Hybrid Information Technology</a> </i> &nbsp;
To reduce the chattering with respect to stability and robustness; linear controller is added to the switching part of the sliding mode controller.  ...  programmed motions for the performance of variety of tasks".  ...  Chattering phenomenon can causes some problems such as saturation and heats the mechanical parts of drivers.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.14257/ijhit.2016.9.11.25">doi:10.14257/ijhit.2016.9.11.25</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/kfr6msmf2rfwtb7wnnedubsoia">fatcat:kfr6msmf2rfwtb7wnnedubsoia</a> </span>
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Dynamic Control Allocation for Tracking Time-Varying Control Demand

Arun Kishore W.C., Siddhartha Sen, Gosaidas Ray, Tapan Kumar Ghoshal
<span title="">2008</span> <i title="American Institute of Aeronautics and Astronautics (AIAA)"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/yekwqy6srncl5bew6tynp7vjsq" style="color: black;">Journal of Guidance Control and Dynamics</a> </i> &nbsp;
Linear programming, mixed integer, and quadratic programming approaches have also been applied to solve the allocation problems formulated as weighted norm minimization and convex quadratic optimal allocation  ...  B., “Nonlinear Control Allocation Using Piecewise Linear Functions: A Linear Programming Approach,” Journal of Guidance, Control, and Dynamics, Vol. 28, No. 3, 2005, pp. 558-563. doi: 10.2514/1.12997 Bolender  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.2514/1.34085">doi:10.2514/1.34085</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/tixnxsb2xzedrd3kvs2jyx6qci">fatcat:tixnxsb2xzedrd3kvs2jyx6qci</a> </span>
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Maneuvering Flight Control

M. Pachter, P. R. Chandler, L. Smith
<span title="">1998</span> <i title="American Institute of Aeronautics and Astronautics (AIAA)"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/yekwqy6srncl5bew6tynp7vjsq" style="color: black;">Journal of Guidance Control and Dynamics</a> </i> &nbsp;
A pointwise linearization scheme for the fast dynamics is developed in Sec. III, anda full state feedback linear quadratic optimal control formulation with linear programming is presented in Sec. IV.  ...  Also on-line, the pilot inputs are modified using linear programming to prevent actuator rate saturation over the optimization horizon.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.2514/2.4264">doi:10.2514/2.4264</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/75ayo32nnbfdheqpmiuz3t4cm4">fatcat:75ayo32nnbfdheqpmiuz3t4cm4</a> </span>
<a target="_blank" rel="noopener" href="https://archive.org/details/sim_journal-of-guidance-control-and-dynamics_may-june-1998_21_3/page/368" title="read fulltext microfilm" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Archive [Microfilm] <div class="menu fulltext-thumbnail"> <img src="https://archive.org/serve/sim_journal-of-guidance-control-and-dynamics_may-june-1998_21_3/__ia_thumb.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.2514/2.4264"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="external alternate icon"></i> Publisher / doi.org </button> </a>

A Survey of Control Allocation Methods for Underwater Vehicles [chapter]

Thor I., Tor Arne, Tristan Perez
<span title="2009-01-01">2009</span> <i title="InTech"> Underwater Vehicles </i> &nbsp;
Inzartsev, ISBN 978-953-7619-49-7, pp. 582, December 2008, I-Tech, Vienna, Austria www.intechopen.com Underwater Vehicles 110 problem that is hard to solve using state-of-the-art iterative numerical optimization  ...  software at a high sampling rate in a safety-critical real-time system with limiting processing capacity and high demands for software reliability.  ...  Over-actuated control allocation problems are naturally formulated as optimization problems as one usually wants to take advantage of all available degrees of freedom (DOF) in order to minimize power consumption  ... 
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A Minimax Linear Quadratic Gaussian Method for Antiwindup Control Synthesis [article]

Obaid ur Rehman, Ian R. Petersen, Baris Fidan
<span title="2011-08-12">2011</span> <i > arXiv </i> &nbsp; <span class="release-stage" >pre-print</span>
In order to illustrate the effectiveness of this approach, the proposed method is applied to a tracking control problem for an air-breathing hypersonic flight vehicle (AHFV).  ...  Then a minimax linear quadratic Gaussian (LQG) compensator is designed to guarantee the performance in certain domain of attraction, in the presence of input saturation.  ...  In these papers, saturation nonlinearities are considered as a sector or dead-zone type nonlinearities and the antiwindup problem is solved by formulating it in a convex optimal framework.  ... 
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