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Actuator selection for over-actuated systems using the actuator effectiveness index

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Abstract

This paper presents a new actuator selection methodology for over-actuated systems based on the actuator effectiveness index. In the proposed method, possible actuator candidates are quantitatively compared. The index is calculated for all candidates and is then used to select the appropriate actuator set based on their effectiveness. The desirable properties for the input selection method are discussed and several examples are presented to show that the results based on the proposed index are compatible with the field knowledge. Furthermore, the proposed actuator selection method is employed to set the actuators groups in the daisy chain type control allocation approaches.This leads to a better initial selection of the actuators and reduces the computational burden of the daisy chain type methods by considering the most effective actuators in the first group.

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Authors and Affiliations

  1. Center of Excellence in Industrial Control, Faculty of Electrical Engineering, K.N. Toosi University of Technology, Seyyed Khandan Bridge, Shariati Ave., Tehran, Iran

    Mehdi Naderi & Ali Khaki Sedigh

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  1. Mehdi Naderi
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  2. Ali Khaki Sedigh
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Correspondence to Mehdi Naderi.

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Naderi, M., Khaki Sedigh, A. Actuator selection for over-actuated systems using the actuator effectiveness index. Int. J. Dynam. Control 8, 991–998 (2020). https://doi.org/10.1007/s40435-020-00610-5

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  • DOI: https://doi.org/10.1007/s40435-020-00610-5

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