A Redistributed Pseudoinverse Algorithm Based on Null-space for Control Allocation
Weiguo Zhang · Jisuanji fangzhen · 2009
The pseudoinverse(PI) algorithm distributes the Attainable Moment Subset(AMS) without considering the position constrains and rate constrains of the actuators.So the control system designed with PI allocation method will have low allocation efficiency and may lead the actuators entering into saturation when distributing the AMS.By analyzing the null-space of the control effectiveness matrix,an algorithm with high allocation efficiency is proposed.The improved algorithm modulates the PI solutions and brings the controls back to the actuator limits,so that the actuator saturation phenomenon is eliminated.The simulation results show that the redistributed Pseudoinverse Algorithm based on Null-space achieves high allocation efficiency.