Cascaded Control Allocation in Overactuated Aircraft via Mixed Optimization

This paper presents the principle and application of a class of cascaded optimal control allocation approach for overactuated aircraft. The design is based on mixed optimized targets consisting of two parts: the tracking error of virtual control and the effectors’ error related to the preferred control vector. At each step, the unconstrained least square problem is solved through simple calculation to obtain the optimal solution. If any optimal commands exceed the position limit or rate limit, a scheme is designed to choose at most one effector set to its limit and the remaining virtual controls are redistributed among other unsaturated control effectors. The Simulation based on the ADMIRE model shows that the effectiveness of the proposed approach comparing with Cascaded Generalized Inverse and Fixed-Point Method.