A global optimization algorithm for energy-efficient control allocation of over-actuated systems

Yan Chen, Junmin Wang
2011 Proceedings of the 2011 American Control Conference  
This paper presents a new global optimization algorithm for energy-efficient control allocation (CA) scheme, which was proposed for improving operational energy efficiency of over-actuated systems. For a class of realistic power and efficiency functions, a Karush-Kuhn-Tucker (KKT) based algorithm is proposed to find all the local optimal solutions, and consequently the global minimum through a further simple comparison among the entire realistic local minima. This KKT-based algorithm is also
more » ... lgorithm is also independent on the selections of initial conditions by transferring the standard nonlinear optimization problem into classical eigenvalue problems. Numerical examples about practical electric ground vehicles with in-wheel motors are utilized to demonstrate the effectiveness of the proposed global optimization algorithm for the energy-efficient CA problems.
doi:10.1109/acc.2011.5990899 fatcat:iyhgjxbfizdfveark5mv43f3z4