This paper proposes an adaptive control allocation approach for over-actuated systems with actuator saturation.
Dynamic equations governing the short period dynamics of an over-actuated Satellite Launch Vehicle (SLV) with a typical eight-actuator configuration have been modeled in a separable form.
The control algorithm hierarchy of motion control for over-actuated mechanical systems with a redundant set of effectors and actuators commonly includes three levels.
The marine platform is over-actuated, i.e. it has more control inputs than degrees of freedom.
This paper addresses the problem of control allocation applied to an over-actuated hovercraft-type vehicle.
This paper addresses the problem of optimal reliability in over-actuated systems.
This work presents a novel scheme for robust constrained control of multivariate over-actuated systems.
An over-actuated design was chosen to ensure a high flexibility.
Through an algebraic transformation, the over-actuated setup is converted to a simplified single control-parameter problem.
As a typical over-actuated system, a 4WID-EV requires a control allocation algorithm to achieve the generalized control efforts.
With this control configuration, the platform is over-actuated, i.e., it has more control inputs than degrees of freedom (DOF).
