DOI: 10.36347/sjet.2018.v06i12.001

Pages: 375-381

Intensive studies on Control Allocation (CA) problems have been carried out and various methods presented in a wide range of applications such as control systems, marine vehicles, and biomechanical control. Direct CA was introduced in which the choice of control inputs is made by geometric reasoning. However, rigorous and painstaking computations for calculating geometric relationships are required in the numerical algorithm for this method. Several fast techniques were proposed to obviate this problem. Hence, to solve this bound-constrained problem, optimization-based allocation, which uses linear programming, quadratic programming and other optimization methods, was developed. This paper is concerned with a different approach of computing the solution for this CA objective using optimization-based method.