Daisy Chaining Kalman Filter Control Allocation

In this article, a novel Control Allocation (CA) approach based on Daisy Chaining and Kalman Filter CA (DCKFCA) approaches is presented. The proposed algorithm aims at overcoming the most common limitations of the existing algorithms: compensation of the different actuator dynamics and switching between different groups of actuators. These two limitations impact negatively the performance of the overall system and the closed loop stability. Daisy Chaining rearranges the actuators into groups, and then the CA problem is solved using the Kalman Filter. This approach has already shown promising results on a realistic simulator of the longitudinal control of an autonomous vehicle.