A New Procedure for Tuning an Allocator and Designing a Robust High-Level Control Law for Over-Actuated Systems

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 [Toulouse]

This paper presents a new integrated procedure to tune a control law for overactuated mechanical systems that may encounter singularities. First, the allocator that divides the commands among the actuators is tuned thanks to a genetic optimization algorithm, that computes the optimal values of its parameters. Then, the open-loop system including the allocator is identified and a robust closed-loop controller is computed with the structured H_\infty method. Indeed, near singularities, the system and the allocator may create errors to deviate from these points or create delays to reconfigure the actuators, hence there is a need to create a closed-loop controller robust to these characteristics and to parameter variations. This procedure is carried out on a planar redundant robotic manipulator example. Simulations

Mots clés: Redundant Systems; Dynamic Inversion

Domaines: Autre

Hélène Evain, Mathieu Rognant, Daniel Alazard, Jean Mignot. A New Procedure for Tuning an Allocator and Designing a Robust High-Level Control Law for Over-Actuated Systems. IFAC World Congress 2017, Jul 2017, Toulouse, France. pp. 12741-12747, ⟨10.1016/j.ifacol.2017.08.1827⟩. ⟨hal-01738087⟩