Method and control unit for controlling an overdetermined system, system and aircraft

Number of patents in Portfolio can not be more than 2000

United States of America

PATENT NO 12189402
APP PUB NO 20220374028A1
SERIAL NO

17729089

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Abstract

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A method for controlling an overdetermined system with multiple power-restricted actuators that perform a primary task and non-primary tasks, including: a) determining a pseudo-control command based on a physical model of the system, which pseudo-control command represents the torques and a total thrust force acting on the system, b) determining a control matrix, c) dissociating the control matrix into sub control matrices, wherein the sub control matrices and the corresponding sub pseudo-control commands correspond to the primary task for i=1 and for i>1 correspond to the non-primary task(s) and a priority of the non-primary tasks decreases with increasing index i, d) determining actuator control commands for solving the primary task, e) projecting the non-primary tasks into the null space of the primary task, and into respective null spaces of all of the non-primary tasks of higher priority, if present, and f) providing the actuator control commands from d) and e) at the actuators.

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Patent Owner(s)

  • VOLOCOPTER GMBH

International Classification(s)

Inventor(s)

Inventor Name Address # of filed Patents Total Citations
Stephan, Johannes Stuttgart, DE 9 10
Yüksel, Burak Mannheim, DE 7 1

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