Effects of Control Allocation Algorithms on a Nonlinear Adaptive Design

摘要

The effect of the choice of control allocation algorithm used in conjunction with a nonlinear adaptive control law is examined. In particular, an existing back stepping control law design is modified to allow the incorporation of various control allocation algorithms. Simulation results are presented for two separate adaptive control law designs and for a nonadaptive two-loop dynamic inversion controller. With the control law designs fixed, tracking maneuvers are simulated using four separate control allocation routines - Direct Allocation, Discrete Time Direct Allocation, Pseudo-inverse, and Weighted Pseudo-Inverse. System performance is then examined as a function of control allocation method. As expected, even though the remainder of the control law design remains fixed, system performance is directly impacted by the choice of control allocation algorithm. Further, some of the important control law/control allocation interactions are identified and their effects on overall system performance analyzed.