Ola Härkegård

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This paper considers actuator redundancy management for a class of overactuated nonlinear systems. Two tools for distributing the control effort among a redundant set of actuators are optimal control design and control allocation. In this paper, we investigate the relationship between these two design tools when the performance indexes are quadratic in the(More)
Aircraft flight control design is traditionally based on linear control theory, due to the existing wealth of tools for linear design and analysis. However, in order to achieve tactical advantages, modern fighter aircraft strive towards performing maneuvers outside the region where the dynamics of flight are linear, and the need for nonlinear tools arises.(More)
When designing control laws for systems with more inputs than controlled variables, one issue to consider is how to deal with actuator redundancy. Two tools for distributing the control effort among a redundant set of actuators are control allocation and linear quadratic control design. In this paper, we investigate the relationship between these two design(More)
Control allocation deals with the problem of distributing a given control demand among an available set of actuators. Most existing methods are static in the sense that the resulting control distribution depends only on the current control demand. In this paper we propose a method for dynamic control allocation, in which the resulting control distribution(More)
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