A method of controlling an actuator system including a plurality of k actuators, preferably for controlling a multiactuator aerial vehicle with the actuators configured as individual propulsion units thereof. Each of the actuators, during operation, receives a control input ui, wherein index i denotes a particular actuator, which control input ui is determined depending on a weight matrix W including a weighting factor wi for each actuator and depending on at least a physical maximum control limit uimax for each of the actuators. The weighting factors wi and/or physical maximum control limit uimax are actively changed during operation if a first comparison, for at least some of the actuators, of the control input ui or a function ƒ(ui) thereof with a set first threshold value yields that the control input ui or function ƒ(ui) thereof exceeds the set first threshold value. The first comparison is repeated during operation, and a new control input ui is determined from the adjusted weighting factor wi and/or the adjusted physical maximum control limit uimax and applied to the actuators.
METHOD OF CONTROLLING AN ACTUATOR SYSTEM AND AIRCRAFT USING SAID METHOD
2021-03-11
Patent
Electronic Resource
English
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