Concepts for constrained control allocation of mixed quadratic and linear effectors

Concepts for new constrained control allocation strategies are developed that deal with systems where moments are nonlinearly related to effector deflections such as those encountered in the case of yawing moment contributions from left-right effector pairs on aircraft.. These concepts are illustrated by considering single and multiple left-right pair effector mixing problems for moments that lie in the roll-yaw moment plane. Methods for generating the boundary of an attainable moment set for a class of multiple non-linear effectors and for clipping unattainable moment commands with axis prioritization are presented.