Welcome to Ola Härkegård's research web page. Here you find information regarding publications, presentations and Matlab software produced by myself and my co-authors. If you are interested in my research, please don't hesitate to send me an e-mail.
QCAT — Control Allocation Toolbox
The Quadratic Programming Control Allocation Toolbox (QCAT) is a Matlab toolbox for exploring QP based control allocation methods. The toolbox can be downloaded from Matlab Central. The documentation of the toolbox (also included in the toolbox) can be found here.
Journal Papers
Dynamic control allocation using constrained quadratic programmingAuthor: Ola Härkegård
Journal: Journal of Guidance, Control, and Dynamics, 27(6):1028-1034, November-December 2004.
Resolving actuator redundancy - Optimal control vs. control allocation
Authors: Ola Härkegård and Torkel Glad
Journal: Automatica, 41(1):137-144, January 2005.
Conference Papers
A backstepping design for flight path angle controlAuthors: Ola Härkegård and Torkel Glad
Conference: CDC 2000, Sydney, Australia (slides).
Flight control design using backstepping
Authors: Ola Härkegård and Torkel Glad
Conference: NOLCOS 2001, St. Petersburg, Russia (slides).
Control of systems with input nonlinearities and uncertainties: An adaptive approach
Authors: Ola Härkegård and Torkel Glad
Conference: ECC 2001, Porto, Portugal (slides).
Dynamic control allocation using constrained quadratic programming
Author: Ola Härkegård
Conference: AIAA GNC 2002, Monterey, California (slides).
Efficient active set algorithms for solving constrained least squares problems in aircraft control allocation
Author: Ola Härkegård
Conference: CDC 2002, Las Vegas, Nevada (slides).
Backstepping control of a rigid body
Authors: Torkel Glad and Ola Härkegård
Conference: CDC 2002, Las Vegas, Nevada (slides).
Resolving actuator redundancy - Control allocation vs. linear quadratic control
Author: Ola Härkegård
Conference: ECC 2003, Cambridge, UK (slides).
Vector backstepping design for flight control
Authors: Ola Härkegård and Torkel Glad
Conference: AIAA GNC 2007, Hilton Head, South Carolina (slides)
Seminars
Control allocation: What, why, and how?Time and place: 2002-01-24, Div. of Control and Communication, Linköping University.
Styrsignalsfördelning hos system med redundanta aktuatorer (in Swedish)
Time and place: 2003-05-07, Dept. of Autonomous Systems, FOI.
Nonlinear multivariable flight control
Time and place: 2003-11-13, Dept. of Automatic Control, Lund University.
Backstepping: From simple designs to take-off
Time and place: 2005-01-27, Div. of Automatic Control, Linköping University.
Automatic control at Saab Aerosystems
Time and place: 2007-10-24, Dept. of Automatic Control, Lund University.
The Skeldar V-150 flight control system
Time and place: 2007-11-08, Div. of Automatic Control, Linköping University.
Thesis
Backstepping
and Control Allocation with Applications to Flight Control
Defended:
May 23, 2003
Opponent:
Marc Bodson,
Univ. of Utah
PhD thesis based on the conference papers above published during 2000 - 2002. Features an aircraft primer, introductory chapters on backstepping and control allocation, as well as an overall evaluation of the proposed flight control system using the Admire simulation model.