Control of allocation under uncertainty based on robust optimization
不确定条件下控制分配问题的鲁棒优化方法

A robust optimal control algorithm for allocation is proposed for over-actuated systems with redundant actuators when the control effectiveness is uncertain. Based on the original uncertain robust optimal model, we study the robust transformation from the ellipsoidal uncertain set to equality. This result is extended to the uncertain set represented by a conic quadratic inequality. The solution of robust control of allocation is discussed along with the computation complexity. Simulation of the control by using the proposed algorithm in allocating effectors in an aircraft with multiple effectors is carried out. Comparison of the results with those obtained from traditional algorithms shows that the proposed algorithm effectively reduces the impacts of the uncertainty in control effectiveness, achieves a more reasonable allocation and results in a higher robustness. Meanwhile, it improves the capability of control reconfiguration for the closed-loop control system in the event of actuator failure in the flight control system.