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Code covered by the BSD License

Highlights from
QCAT

alloc_sim(method,B,v,plim,rli... ALLOC_SIM - Control allocation simulation.
ca2lq(B,R2,Wu) CA2LQ - Incorporate control allocator into LQ controller.
cgi_alloc(B,v,umin,umax,Wv,Wu... CGI_ALLOC - Control allocation based on cascading generalized inverses.
dca(B,S,W1,W2,T) DCA - Compute dynamic control allocation filter.
dir_alloc(B,v,umin,umax) DIR_ALLOC - Direct control allocation.
dir_sim(B,v,plim,varargin) DIR_SIM - Direct control allocation simulation.
dyn_ca_sl(arg,B,plim,rlim,T,W... Wrapper used in the dynamic control allocation Simulink block.
dyn_sim(B,v,plim,varargin) DYN_SIM - Dynamic control allocation simulation.
fxp_alloc(B,v,umin,umax,Wv,Wu... FXP_ALLOC - Control allocation using a fixed-point iterations.
ip_alloc(B,v,umin,umax,ud,gam... IP_ALLOC - Control allocation using interior point method.
iscoplanar(B) ISCOPLANAR - Test for coplanar controls.
lq2ca(B,R1) LQ2CA - Extract control allocator from a given LQ controller.
mls_alloc(B,v,umin,umax,Wv,Wu... MLS_ALLOC - Control allocation using minimal least squares.
pinv_sol(A,b,method) PINV_SOL - Compute pseudoinverse solution.
qcatdoc QCATDOC - View QCAT documentation in Matlab's Help browser.
qp_ca_sl(arg,B,plim,rlim,T,Wv... Wrapper used in the QP control allocation Simulink block.
qp_sim(B,v,plim,varargin) QP_SIM - QP control allocation simulation.
qrank(A) QRANK - Quick matrix rank estimation.
slblocks SLBLOCKS Defines the block library for a specific Toolbox or Blockset.
sls_alloc(B,v,umin,umax,Wv,Wu... SLS_ALLOC - Control allocation using sequential least squares.
vview(B,plim,P) VVIEW - View the attainable virtual control set.
vview_demo VVIEW_DEMO - Demo of the VVIEW command.
wls_alloc(B,v,umin,umax,Wv,Wu... WLS_ALLOC - Control allocation using weighted least squares.
wpinv(A,W) WPINV - Compute weighted pseudoinverse.
Contents.m
wlsc_alloc.m
dyn_alloc_demo
qcatlib
qp_alloc_demo
About QCAT
Control allocation intro
Description of Contents
Description of alloc_sim
Description of ca2lq
Description of cgi_alloc
Description of dca
Description of dir_alloc
Description of dir_sim
Description of dyn_ca_sl
Description of dyn_sim
Description of fxp_alloc
Description of ip_alloc
Description of iscoplanar
Description of lq2ca
Description of mls_alloc
Description of pinv_sol
Description of qcatdoc
Description of qcatlib
Description of qp_ca_sl
Description of qp_sim
Description of qrank
Description of slblocks
Description of sls_alloc
Description of vview
Description of vview_demo
Description of wls_alloc
Description of wlsc_alloc
Description of wpinv
Index for Directory qcat
Index for Directory qcat
QCAT Doc
What's new
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4.8 | 6 ratings Rate this file 13 Downloads (last 30 days) File Size: 159.06 KB File ID: #4609

QCAT

by Ola Harkegard

11 Mar 2004 (Updated 17 Oct 2008)

Quadratic Programming Control Allocation Toolbox

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File Information

Description

The Quadratic Programming Control Allocation Toolbox (QCAT) provides MATLAB implementations of a number of algorithms for control allocation based on quadratic programming.

Control allocation deals with distributing a total control demand among an available set of actuators subject to position and rate constraints. Flight control is one important application.

For further information about the toolbox and associated publications, please visit http://research.harkegard.se

MATLAB release

MATLAB 6.5 (R13)

Tags for This File
Everyone's Tags	constrained control, control allocation, flight control
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Comments and Ratings (7)
02 Sep 2004	Chris Regan	Very thorough documentation and description of control allocation methods. Extremely useful both from a theoretical and practical perspective.
15 Mar 2005	Peng He	Thank you very much! I am very interested in your research
12 Oct 2007	carlos vinante	very well done and helpfull in my area of interes
30 Apr 2008	Kiumars Jalali	Great job. This is very useful for me.
30 Jun 2008	Sumit Parihar	I was referring to your thesis for control allocation based optimization. Got the information about these m-files from there. Excellent work. Thank you.
24 Jul 2011	bui van phuoc	Thanks so much
21 Nov 2011	curryxt ??	Good work and could I learn much from it.

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Updates
15 Jun 2004	News in version 1.2: * C MEX-implementation of active set solver WLS_ALLOC. * Interior point solver IP_ALLOC contributed by John Petersen. ... plus minor modifications in most functions. Also tested with Matlab 7.0.
16 Jun 2004	New screenshot image.
25 Aug 2004	Bug fix in SLS_ALLOC.
02 Sep 2004	Correct version of QCAT 1.2.1 posted.
17 Oct 2008	New home page.

Tag Activity for this File
Tag	Applied By	Date/Time
control allocation	Ola Harkegard	22 Oct 2008 07:16:07
constrained control	Ola Harkegard	22 Oct 2008 07:16:07
flight control	Ola Harkegard	22 Oct 2008 07:16:07

Highlights from QCAT

QCAT

Highlights from
QCAT