Unmanned aerial vehicles (UAVs) have been a growing research area with strong support from both civilian and military applications. Conventional UAVs are configured with independent moment generator in each body-axis. Due to increased demand on the reliability, maneuverability, stealth and survivability, more and unconventional control surfaces are designed for modern high-performance UAVs. As a result, they turn to be over-actuated systems and the control ability is enhanced. The most important problems of UAVs with multiple control surfaces are how to solve control allocation and coordination control of multiple control surfaces and utilize the redundancy of control variables to produce the highest control efficiency. Control allocation problem in flight control systems is defined as how to distribute the required control efforts into individual control surfaces of an aircraft under position and rate constraints according to different flight conditions and tasks. Control allocation research of UAVs with multiple control surfaces is significant in theory and application areas. The research results can also be applied to other over-actuated systems (such as ships, underwater vehicles). In this dissertation, based on flight control research of certain UAV with multiple control surfaces, control allocation problem is deeply researched under the supports of the Knowledge Innovation Program of Chinese Academy of Sciences (No. ZKYGC08A02) and the coorperation grant with HONGDU Aviation Industry Group. Firstly, a new control allocation algorithm is proposed based on primal-dual path following interior-point algorithm and its validity and advantages are demonstrated by numerical simulations. Secondly, in the case of the drawbacks of conventional static control allocation algorithms, a dynamic control allocation algorithm is proposed, where rate constraints of control surfaces are considered. The validity and advantages are illustrated through numerical simulation results. Comparisons are made with other static control allocation approaches. Thirdly, a flight control system scheme is designed based on nonlinear dynamic inversion and the dynamic control allocation. Simulation results show the feasibility of the scheme. Fourthly, a new real-time dynamic control allocation approach is proposed, then a new flight control system design scheme is designed based on nonlinear dynamic inversion and the real-time dynamic control allocat...
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