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

Table 2

The original and final actuator execution commands of some data points.

Original actuator; execution commands	Final commands after direct rounding		Final commands after the proposed control allocation
0.7016; −0.8011; 0.7201; 0.5457	1; −1; 1; 1	0.3876	13; 10; −2; 4	0.0036
1.1116; −1.1082; 1.0614; 0.3732	1; −1; 1; 0	0.3217	8; 10; 7; 3	0.0113
0.1814; −0.1902; 0.1778; 0.0895	0; 0; 0; 0	0.0872	6; 0; −6; 1	0.0077
8.3053; −7.2498; 7.4224; −0.3540	8; −7; 7; 0	0.2898	13; −3; 6; 1	0.0042
6.1142; −4.9641; 5.2801; −1.3986	6; −5; 5; −1	0.3509	5; −8; 3; −2	0.0063
3.1138; −2.2609; 2.5571; −1.5275	3; −2; 3; −2	0.4187	5; −8; 10; −2	0.0142