The weight design of overactuator allocation through maximizing subset

In this paper a mixed control allocation with explicit control law is presented based on optimal weight determined by genetic particle swarm optimization algorithm for over-actuated flight system. The design combines tracking error of virtual control with effectors energy, and the attainable subset formulation scheme is concluded according to the uniform control law expression. By introducing crossover operation, the diversity of particle swarm optimization is improved to optimize the weight with the attainable subset volume as the fitness. The advantage of this method is computational efficiency since it is not necessary to calculate the control allocation problem exactly at each time instant, and the optimal weight is searched off-line. The simulation of an over-actuated flight control example validates the effectiveness of the proposed approach.