Model Predictive Dynamic Control Allocation with Actuator Dynamics

摘要

A model predictive, dynamic control allocation algorithm is developed in this paper for the inner loop of re-entry vehicle guidance and control system. The purpose of the control allocation portion of the guidance and control architecture is to distribute control power among redundant control effectors to meet the desired control objectives under a set of constraints. Most existing algorithms neglect the actuator dynamics or deal with the actuator dynamics separately, thereby assunung a static relationship between actuator outputs (in our case, control surface deflections) and plant inputs (i.e., moments about the three body axis). In this paper, we propose a dynamic control allocation scheme based on Model-based Predictive Control (MPC) that directly takes into account actuators with nonnegligible dynamics and hard constraints.