Control Allocation for Windup Mitigation in Weakly Redundant Systems With Input Saturation

This letter proposes a control allocation framework to cope with the windup problem that may arise when input limitations are present. Our approach hinges on the design of a dynamic input allocator composed of an optimizer and an annihilator, proposing several policies for designing the dynamics of the former. By doing so, we enable the system to overcome the saturating condition and recover its intended behaviour. The effectiveness of the proposed allocators in mitigating the windup effect has been tested and validated by numerical simulations.