Robust control allocation strategy for linear parameter-varying over-actuated systems
ZHANG Shen-peng
ZHANG Deng-feng
WANG Zhi-quan
Abstract：The control allocation problem is studied for a class of linear parameter-varying(LPV)over-actuated systems with uncertain time-varying parameters in this paper.In view of the uncertain parameter perturbations and actuators physical constraints,a control allocation optimization model with time-varying uncertainties is established based on the 1-norms of allocation error of pseudo-control command and the control input error.According to the principle of robust optimization, the robust control allocation algorithm based on constrained second-order cone programming model is developed by using vector transforms technology to deal with time-varying uncertainties.The online optimal allocation of pseudo-control command is thus realized for LPV over-actuated systems.Finally,the comparative simulations are executed for the steering over-actuated control system with time varying 2--DOF of a four-wheel electric-vehicle.The simulative results indicated that the proposed robust control allocation algorithm can effectively reduce the influence of parametric uncertainties on the system,compared with the conventional 4WS and pseudo-inverse control allocation methods.The more reasonable control allocation solution is obtained,and the vehicle handling stability is improved.
Keywords：over-actuated systemsrobust control allocationsecond-order cone programminglinear parameter-varying systems
Publication Date：2017-01-01
Online Publishing Date：2025-08-15(First online date of this platform, not the publication date of the document)
Pages：10( 1621-1630 )