Path: Missions/SunNadir
% Control demand distribution
Finds the actuation distribution matrix that distributes a control demand
among n bidirectional actuators. The control distribution matrix is found be
solving the constrained optimization problem
J = 0.5*u'*u + L( x - a*u )
where x is the desired control demand. The control demand for each
actuator is found from
u = h*x;
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Form:
h = CDist( a )
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Inputs
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a (m,n) The unit vectors for the actuators
where the control demand is of length m
and the number of actuators equal to n
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Outputs
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h (n,m) The control distribution matrix
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