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Communication Dans Un Congrès Année : 2020

Convergent EKF-based control allocation: general formulation and application to a Control Moment Gyro cluster

Résumé

This paper addresses control allocation for redundant systems with the Extended Kalman Filter formalism. This method is compatible with the low computational power available in space environment, and presents a flexible framework to include constraints such as singularity avoidance. The convergence domain of the allocator is derived from the contraction theory framework, depending on specific parameters of the system. A general formulation is proposed to maximize the convergence domain with regard to these parameters. The method is applied to design a steering law of Control Moment Gyroscopes. Experimental tests show that the control allocation allows the actuators to work efficiently along nominal trajectories while avoiding singularities when necessary.
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Dates et versions

hal-03211133 , version 1 (28-04-2021)

Identifiants

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Ervan Kassarian, Mathieu Rognant, Helene Evain, Daniel Alazard, Corentin Chauffaut. Convergent EKF-based control allocation: general formulation and application to a Control Moment Gyro cluster. 2020 American Control Conference (ACC), Jul 2020, Denver, United States. pp.4454-4459, ⟨10.23919/ACC45564.2020.9147333⟩. ⟨hal-03211133⟩
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