The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Aug. 08, 2023
Filed:
Jul. 30, 2020
Volocopter Gmbh, Buchsal, DE;
Jan Zwiener, Waldbronn, DE;
Burak Yuksel, Heidelberg, DE;
Volocopter GmbH, Bruchsal, DE;
Abstract
A method of controlling an actuator system including a plurality of k actuators. Each of the actuators-receives a control input u, wherein index i denotes a particular actuator, which control input uis determined depending on a weight matrix W including a weighting factor wfor each actuator and depending on at least a physical maximum control limit ufor each of the actuators. The weighting factors wand/or physical maximum control limit uare actively changed during operation if a first comparison of the control input uor a function f(u) thereof with a set first threshold value yields that the control input uor function f(u) thereof exceeds the set first threshold value. The first comparison is repeated during operation, and a new control input uis determined from the adjusted weighting factor wand/or the adjusted physical maximum control limit uand applied to the actuators.