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; -------------------------------------------------------------------------- Form: h = CDist( a ) -------------------------------------------------------------------------- ------ Inputs ------ 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 ------- Outputs ------- h (n,m) The control distribution matrix --------------------------------------------------------------------------
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