Null Space Control Allocation and Configuration Optimization of Reaction Wheels

Reaction Wheels (RWs), the primary attitude actuators on most spacecraft, are one of the largest on-board disturbance sources due to nondeterministic bearing behaviour at low angular velocities of the RWs. The configuration design of redundant Reaction Wheels Arrays (RWAs) can be divided into configuration optimization and control allocation....

Optimal Control Allocation on Over-Actuated Vehicles

Modern passenger vehicles are equipped with an increasing number of actuators that may be used to actively control the lateral and longitudinal dynamics of the vehicle. During limit-handling situations, proper coordination of all the available actuators by the vehicle stability control (VSC) can lead to improved overall control authority, which...