Constrained Dynamic Control Allocation Considering Frequency Characteristics of Actuators

A new dynamic control allocation is proposed for missiles with multiple actuators under constraints, taking into account the respective frequency characteristics of actuators. The proposed method extends regular quadratic-programming control allocation by using a dynamic weighting matrix. In the constraints free case with no actuators saturated, the fast actuator is allocated for the high-frequency part of the command and the slow actuator is for the low-frequency part. In the constrained case, both the frequency characteristics and saturation are considered to improve the performance of the missile attitude control. Numerical simulation is conducted to verify the proposed allocation method.