A solution of control allocation problem by real-time optimization and application for the motion control

Abstract

This paper proposes a control allocation method for the motion control in which the number of manipulated variables is one more than control degree of freedom. Proposed method is formulated as an optimization problem including some of Quadratic Programming sub-problems (QPs), and can calculate optimal allocation in real-time. Furthermore, the real-time performance is improved by the Parallel Quadratic Programming (PQP) method. The effect of the proposed method is verified by numerical simulations in terms of control response and calculation time.