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Mathematical Problems in Engineering
Volume 2016 (2016), Article ID 5037678, 8 pages
Research Article

Tracking Control Based on Control Allocation with an Innovative Control Effector Aircraft Application

1School of Aeronautic Science and Engineering, Beihang University, Beijing 100191, China
2School of Automation Science and Electrical Engineering, Beihang University, Beijing 100191, China

Received 19 May 2016; Revised 30 August 2016; Accepted 1 September 2016

Academic Editor: Asier Ibeas

Copyright © 2016 Chaoyang Dong et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


This paper proposes a control allocation method for the tracking control problem of a class of morphing aircraft with special actuators which are different from the conventional actuation surfaces. This design of actuators can bring about some potential advantages to the flight vehicles; however, due to the integral constraints, the desired control cannot be performed accurately; therefore, it leads to undesirable tracking errors, so influencing the performance of the system. Because the system could be control allocated, based on the designed cost function that describes the tracking errors, the cuckoo search algorithm (CSA) is introduced to search for the optimum solution within the calculated actuator execution commands that are equivalent to the desired commands. Several improvement measures are proposed for boosting the efficiency of the CSA and ensuring reasonable solutions. Simulation results show that the proposed control allocation method is necessary and effective, and the improvement measures are helpful in obtaining the optimum solution.