Actuator saturation avoidance in overactuated systems

The presence of redundant actuators in dynamic systems increases system efficiency and capability. An example of this increased capability is avoidance of actuator saturation at critical moments. Defining a system maximum efficiency function, this paper transforms the problem of avoiding actuator saturation into an optimization problem with the capability of on-line solution. The paper also presents and evaluates the solution of optimization problems with inequality constraints. Finally, the performance of the proposed system is examined through simulation.