This paper proposes a projection algorithm which can be employed to bound actuator signals, in terms of both magnitude and rate, for uncertain systems with redundant actuators. The investigated closed-loop control system is assumed to contain an adaptive control allocator to distribute the total control input among actuators. Although conventional control allocation methods can handle actuator rate and magnitude constraints, they cannot consider actuator uncertainty. On the other hand, adaptive allocators manage uncertainty and actuator magnitude limits. The proposed projection algorithm enables adaptive control allocators to handle both magnitude and rate saturation constraints. A mathematically rigorous analysis is provided to show that with the help of the proposed projection algorithm, the performance of the adaptive control allocator can be guaranteed, in terms of error bounds. Simulation results are presented, where the Aero-Data Model In Research Environment (ADMIRE) is used to demonstrate the effectiveness of the proposed method.

本文提出了一种投影算法，该算法可用于在幅度和速率方面为具有冗余执行器的不确定系统绑定执行器信号。假设所研究的闭环控制系统包含一个自适应控制分配器，用于在执行器之间分配总控制输入。尽管传统的控制分配方法可以处理执行器速率和幅度约束，但它们不能考虑执行器的不确定性。另一方面，自适应分配器管理不确定性和执行器幅度限制。所提出的投影算法使自适应控制分配器能够处理幅度和速率饱和约束。提供了数学上严格的分析，以表明在所提出的投影算法的帮助下，就误差范围而言，可以保证自适应控制分配器的性能。给出了仿真结果，其中使用研究环境中的航空数据模型 (ADMIRE) 来证明所提出方法的有效性。