Robustification of input redundant feedback systems using robust actuator weighting in the control allocation problem |
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Authors: | Javad Ahmadi Ali Khaki-Sedigh Abdolreza Ohadi |
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Affiliation: | 1. Department of Mechanical Engineering , Amirkabir University of Technology , Hafez Avenue 424, Tehran , Iran sjavadahmadi@aut.ac.ir;3. Department of Electrical Engineering , K.N. Toosi University of Technology , Seyyed Khandan Bridge, Shariati Street, Tehran , Iran;4. Department of Mechanical Engineering , Amirkabir University of Technology , Hafez Avenue 424, Tehran , Iran |
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Abstract: | In this article, a new methodology for robust actuator weighting in the control allocation (CA) problem of input redundant feedback systems is addressed. The methodology is based on the control structural properties of the plant which were previously used for control configuration selection. Robust performance (RP) measures including H ∞ norm and structured singular value of the closed-loop system are used in this article. The capability of the approach is proven with application to lateral dynamics control of the vehicle over-actuated with front and rear steering systems. Employing the RP measures, it is concluded that the vehicle feedback control with front steering angles gives superior RP properties in comparison with the feedback loop of the rear steering angles. Based on these results, the penalty weightings in the cost function of the CA unit are determined. Simulation results based on nonlinear seven degrees of freedom vehicle handling model show that the selection of penalty weightings in the CA unit based on the RP properties of the control inputs (front and rear steering angles) improves the RP of the closed-loop. |
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Keywords: | control allocation robust performance vehicle lateral dynamics structured singular value |
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