There are many answers to this question: i) over-actuated system is system in which a number of inputs is more than its output state ii) When a system is equipped with more effectors than axes to control, the system may be over-actuated or redundant. My question is: is there a standard definition of the over-actuated system?
Hi,
A simple explanation of over-actuated system is a system in which you have more actuators than the systems degrees-of-freedom. For instance, when you use three motors to run a two link arm manipulator. You may want to check out some over-actuated parallel manipulators. Have a look at my paper (http://ieeexplore.ieee.org/xpl/login.jsp?tp=&arnumber=5598495&url=http%3A%2F%2Fieeexplore.ieee.org%2Fxpls%2Fabs_all.jsp%3Farnumber%3D5598495) on 3-RRR parallel manipulator, which has 3DOF considering the end-effector and 2-DOF if you ignore the end-effector which makes it over-actuated. It's only able to move in x,y directions but has three motors to do so.
Regards,
Hi, Amin Noshadi, thank you for your answer and thank you for your paper! But under what condition could the system dot(X)=A*X+B*u be called an over-actuated system?
To make simple over-actuated systems are systems where the number of operable control is greater than the controlled variables.
Let us consider the LTI system be given by:
x˙ (t) = Ax(t) + Bu(t)
y(t) = Cx(t)
where A ∈ IRn×n, B ∈ IRn×m and C ∈ IRp×n are
respectively, the state, the control and the output matrices.
x ∈ IRn is the system state, u ∈ IRm is the control input, y ∈
IRp is the system output, and (A,B) is stabilizable. Control
allocation is generally used for over-actuated systems, where
the number of operable control is greater than the controlled
variables: rank(B) = k < m.
see the paper
Khelassi A., Weber P., Theilliol D., Reconfigurable Control Design for over-actuated Systems based on Reliability Indicators, Conference on Control and Fault-Tolerant Systems, Nice : France, October, (2010), 365-370.
Conference Paper Reconfigurable control design for over-actuated systems base...
And
Conference Paper Control design for over-actuated systems based on reliabilit...
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