Guaranteed Feasible Control Allocation using Model Predictive Control

Abstract

This paper proposes a guaranteed feasible control allocation method based on the model predictive control. Feasible region is considered to guarantee the determination of the desired virtual control signal using the pseudo inverse methodology and is described as a set of constraints of an MPC problem. With linear models and the given constraints, feasible region defines a convex polyhedral in the virtual control space. In order to reduce the computational time, the polyhedral can be approximated by a few axis aligned hypercubes. Employing the MPC with rectangular constraints substantially reduces the computational complexity. In two dimensions, the feasible region can be approximated by a few rectangles of the maximum area using numerical geometry techniques which are considered as the constraints of the MPC problem. Also, an active MPC is defined as the controller to minimize the cost function in the control horizon. Finally, several simulation examples are employed to illustrate the effectiveness of the proposed techniques.