A global optimization algorithm for energy-efficient control allocation of over-actuated systems

This paper presents a new global optimization algorithm for energy-efficient control allocation (CA) scheme, which was proposed for improving operational energy efficiency of over-actuated systems. For a class of realistic power and efficiency functions, a Karush-Kuhn-Tucker (KKT) based algorithm is proposed to find all the local optimal solutions, and consequently the global minimum through a further simple comparison among the entire realistic local minima. This KKT-based algorithm is also independent on the selections of initial conditions by transferring the standard nonlinear optimization problem into classical eigenvalue problems. Numerical examples about practical electric ground vehicles with in-wheel motors are utilized to demonstrate the effectiveness of the proposed global optimization algorithm for the energy-efficient CA problems.