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The paper considers the problem of distributing control requirements among multiple, redundant actuators in flight control systems. The direct allocation technique proposed by Durham is studied. The original method assumed that any three columns of the controls effectiveness matrix were linearly independent, hi this paper, the condition is relaxed, so that systems with coplanar controls can be considered. The geometry of the attainable moment set is discussed and a control allocation solution is proposed. For fast on-line execution, a method using spherical coordinates is used and results of the implementation are reported.
Petersen et al. (Mon,) studied this question.