New algorithm for robust control allocation of UAV based on generalized inverse

For unmanned aerial vehicle's (UAV's) control allocation problem which arises from the wide use of multiple aero surfaces, a robust algorithm based on closed-loop generalized inverse is proposed. On the basis of general generalized inverse control allocation method, the states corresponding to the commands are fed back to enhance the robustness of the system. Feasibility of the new frame is analyzed, and the sufficient and necessary condition for stability of the closed-loop system is presented. New design method for the new scheme is developed and the steadystate characteristics of the close-loop system are studied in detail. Numerical simulation results demonstrate the stability and robustness of the proposed method, and illustrate its efficiency in solving the control allocation problem for UAV's flight control system. The proposed scheme can also be extended to broader field of control allocation because of its satisfactory performance.