A method of operating an under-actuated actuator system including a plurality of actuators (3), preferably for operating a multiactuator aerial vehicle (1), wherein the actuators (3) are individual propulsion units of the multiactuator aerial vehicle (1), each actuator having a maximum physical capacity umax, the method including: controlling the actuators (3) by with an actual control input u∈k computed from an allocation equation u=D−1up, wherein D−1 is an inverse allocation matrix and up∈m is a pseudo control input defined by a system dynamics equation m(x){dot over (x)}+c(x,{dot over (x)})+g(x)+G(x)up=fext, wherein x∈n is an n-dimensional configuration vector of the system, m(x)∈n×n is a state dependent generalized moment of inertia, c(x,{dot over (x)})∈n are state dependent Coriolis force, g(x)∈n are gravitational forces and fext∈n are external forces and torques, and G(x)∈n×m is a control input matrix which contains the information of under-actuation. The system is under-actuated if Rank (G(x))m>n and Rank (G(x)D)
METHOD OF CONTROLLING AN ACTUATOR SYSTEM AND AIRCRAFT USING SAME
15.04.2021
Patent
Elektronische Ressource
Englisch
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