Integration of on-line system identification and optimization-based control allocation

An algorithm is presented for the identification of distributed aircraft control derivatives, in real-time. A distributed effector suite is a primary characteristic of tailless aircraft, since the requisite yaw power must come from several sources. The most commonly used control allocation algorithms correlate the effectors to such an extent that valid estimation is not possible. This paper addresses the effector identification problem by including decorrelating excitation into the control allocation cost function while still satisfying the desired control moment, and therefore does not introduce any residual perturbations into the motion variables. Results are shown for a stability axis roll maneuver with the control derivatives being identified for five differential lateral directional effectors.