A fast search direct allocation method for overactuated systems

Control allocation is used to distribute the total virtual control instruction among the redundant actuators. This paper focuses on improving the time performance of direct allocation method, and a fast search direct allocation method is presented. To reduce the on-line computations, an improved method of checking only the facets that located in the same octant as the desired moment is proposed. To shorten the search time, we propose a heuristic search method that determines search direction according to the positional relationship between the desired moment and the facet being checked. To verify the time reduction of the fast search direct allocation method, some numerical simulation experiments are taken, and we make the time requirement of the method analogous compared with modified direct allocation method, modified pseudoinverse redistribution method, and linear programming method solved by simplex method. The simulation results show that the computation time of the fast search direct allocation method reduces at least 60% compared with the three aforementioned methods. This method demonstrates the potential for future use in overdrive systems.