Nonlinear dynamic inversion for redundant systems using the EKF formalism

Hélène Evain (1) , Mathieu Rognant (1) , Daniel Alazard (2) , Jean Mignot (3)

1 ONERA - The French Aerospace Lab [Toulouse]
2 DCAS - Département Conception et conduite des véhicules Aéronautiques et Spatiaux
3 CNES - Centre National d’Études Spatiales [Paris]

This paper presents an allocator for over-actuated systems based on the Extended Kalman Filter (EKF). The main advantages of the proposed approach are the greater flexibility in handling the constraints and its real-time capabilities. Based on the literature, theoretic convergence results, which ensure the convergence towards the local optimal values looked for, are presented. Another formulation of the kinematic equations of redundant systems that meet some constraints is also proposed in order to go through and/or avoid singularities. The two formulations are combined and applied to an academic example (a planar redundant manipulator arm).

Mots clés: Redundant actuators; Allocation; Non-linear dynamic inversion; EKF; Singularities

Domaines: Traitement du signal et de l'image [eess.SP]

Hélène Evain, Mathieu Rognant, Daniel Alazard, Jean Mignot. Nonlinear dynamic inversion for redundant systems using the EKF formalism. 2016 American Control Conference (ACC), Jul 2016, Boston, United States. pp. 348-353, ⟨10.1109/ACC.2016.7524939⟩. ⟨hal-01405187⟩