Control Allocation in the Presence of Actuator Dynamics and Limitations

A novel linear control allocation method is pre-sented in this paper. It combines an extended version of the classical weighted pseudo-inverse technique to account for actuator dynamics, and reference governors to cope with actuator limitations and maximize their use. Additionally, daisy-chaining is used to allow interconnection between different actuator groups of increasing priority. A comparative analysis is conducted to examine the effects of the algorithm parameters on the transient and steady-state responses of the system.