Disturbance Rejection and Control Allocation of Over-Actuated systems H

This paper presents the development and application of two approaches to control allocation for an over-actuated system. These approaches considered the effect of disturbance acting on the system through an Hinfin controller designed using LMIs. The approach minimizes weighted norm of control input to distribute control effort and also takes into account of actuator saturation. The design 2 has an adaptive weight updating algorithm, while determining the weighted-pseudo inverse allocation, avoids the control input saturation for all attainable control demands. The proposed design and algorithms are demonstrated with an eight actuator model of a satellite launch vehicle.