Hierarchical Control of the Over-Actuated ROSPO Platform via Static Input AllocationThis work has been partially funded by the European Unions Horizon 2020 research and innovation programme under grant agreement No 644271 AEROARMS and by the CARNOT post-doctoral project GRASP supported by the LAAS-CNRS

This paper addresses the problem of control allocation applied to an over-actuated hovercraft-type vehicle. A hierarchical control architecture, consisting of a high level controller for trajectory tracking, and a control allocation algorithm, is developed and proved to be effective in tracking a de...

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Bibliographic Details
Published inIFAC-PapersOnLine Vol. 50; no. 1; pp. 12698 - 12703
Main Authors Nainer, C., Furci, M., Seuret, A., Zaccarian, L., Franchi, A.
Format Journal Article
LanguageEnglish
Published Elsevier Ltd 01.07.2017
Subjects
Allocation
Hierarchical Control
Mobile Robots
Over-actuated Robots
Robot Control
Allocation
Mobile Robots
Over-actuated Robots
Robot Control
Hierarchical Control
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Summary:This paper addresses the problem of control allocation applied to an over-actuated hovercraft-type vehicle. A hierarchical control architecture, consisting of a high level controller for trajectory tracking, and a control allocation algorithm, is developed and proved to be effective in tracking a desired trajectory while optimizing some cost related to actuator constraints. The control allocation algorithm exploits the redundancy of the system in order to keep the actuator states inside their saturation limits and tries to minimize the power consumption of the propellers. Unlike other papers on control allocation, actuator dynamics is taken into account. The control architecture is tested through simulations that well illustrate the capabilities of the proposed control design.
ISSN:2405-8963
2405-8963
DOI:10.1016/j.ifacol.2017.08.2260