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Title:

Kalman Filter Based Adaptive Control Allocation

Document type:
Konferenzbeitrag
Author(s):
Hafner, Simon; Ryals, Andrea Dan; Li, Hangxu; Pollini, Lorenzo; Holzapfel, Florian
Abstract:
In recent years, various approaches for adaptive control allocation have been published with the goal to enable fault tolerance and improve flight performance of overactuated vehicles. Most of the presented methods are based on Model Reference Adaptive Control (MRAC) techniques and/or recursive least squares. In this study, we present a novel strategy combining concurrent learning MRAC and Kalman filtering to adapt the control effectiveness vector. The proposed strategy incorporates short term u...     »
Book / Congress title:
2024 32nd Mediterranean Conference on Control and Automation (MED)
Publisher:
IEEE
Year:
2024
Fulltext / DOI:
doi:10.1109/MED61351.2024.10566161
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