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:
Oct. 28, 2025
Filed:
Dec. 21, 2023
The Boeing Company, Arlington, VA (US);
Joseph George Irwin, Iii, Landenberg, PA (US);
Pieter Gerard Einthoven, West Chester, PA (US);
Benjamin Horn Oster, Media, PA (US);
Patrick Smith, Philadelphia, PA (US);
The Boeing Company, Arlington, VA (US);
Abstract
Methods and apparatus for allocating control effector commands to reduce vehicle deviations from a commanded trajectory. An example apparatus includes interface circuitry, machine readable instructions, and programmable circuitry to at least one of instantiate or execute the machine readable instructions to receive control force or moment command input associated with an over-actuated vehicle, the over-actuated vehicle including a first actuator and a second actuator, apply a rate or position limit based on actuator capability, and reassign control from the first actuator to the second actuator based on a lagged command position of the first actuator to preserve a control trajectory of the vehicle.