论文标题
在不确定的过度驱动系统中处理执行器的幅度和速率饱和：修改的投影算法方法
Handling actuator magnitude and rate saturation in uncertain over-actuated systems: A modified projection algorithm approach
论文作者
论文摘要
本文提出了一种投影算法，该算法可用于构造执行器信号，以构成量级和速率，用于具有冗余执行器的不确定系统。假定所研究的闭环控制系统包含自适应控制分配器，以在执行器之间分配总控制输入。尽管常规的控制分配方法可以处理执行器的速率和幅度限制，但它们不能考虑执行器的不确定性。另一方面，自适应分配器管理不确定性和执行幅度限制。提出的投影算法使自适应控制分配器能够处理大小和速率饱和约束。提供了数学上严格的分析，以表明借助提出的投影算法，可以在误差范围内保证自适应控制分配器的性能。给出了仿真结果，其中使用了研究环境中的Aero-DATA模型（欣赏）用作过度驱动系统，以证明该方法的有效性。
This paper proposes a projection algorithm which can be employed to bound actuator signals, in terms of both magnitude and rate, for uncertain systems with redundant actuators. The investigated closed loop control system is assumed to contain an adaptive control allocator to distribute the total control input among actuators. Although conventional control allocation methods can handle actuator rate and magnitude constraints, they cannot consider actuator uncertainty. On the other hand, adaptive allocators manage uncertainty and actuator magnitude limits. The proposed projection algorithm enables adaptive control allocators to handle both magnitude and rate saturation constraints. A mathematically rigorous analysis is provided to show that with the help of the proposed projection algorithm, the performance of the adaptive control allocator can be guaranteed, in terms of error bounds. Simulation results are presented, where the Aero-Data Model In Research Environment (ADMIRE) is used as an over-actuated system, to demonstrate the effectiveness of the proposed method.
