Constrained dynamic control allocation based on frequency characteristics of actuators for attitude control systems with parametric uncertainties

Purpose In pursuit of higher maneuverability and aerodynamic characteristics, aerodynamic configuration for an attitude control system of aircraft adopts generally an over-actuated form. The purpose of this paper is to address allocation problems of multiple actuators to improve the system rapidity and performance and simultaneously solve parameter uncertainties of the aircraft attitude control system. Design/methodology/approach Taking into account the respective frequency characteristics of actuators as well as position and rate constraints, the proposed method extends regular quadratic-programming control allocation by using a dynamic weighting matrix. And a robust controller, issuing a virtual control command to be allocated, is designed based on H ∞ mixed sensitivity design. Findings Given an attitude control system with parametric uncertainties, the proposed virtual robust controller and control allocation method is verified and the system performance is improved. Originality/value The proposed dynamic control allocation method is designed based on actuator dynamic characteristics and the changing rate of the virtual control command, considering some actuator constraints simultaneously. The efficiency of the attitude control system is improved and the complex multi-input and multi-output system model can be simplified.