Nonlinear dynamic inversion for redundant systems using the EKF formalism

This paper presents an allocator for over-actuated systems based on the Extended Kalman Filter (EKF). The main advantages of the proposed approach are the greater flexibility in handling the constraints and its real-time capabilities. Based on the literature, theoretical convergence results, which ensure the convergence towards the local optimal values looked for, are presented. Another formulation of the kinematic equations of redundant systems that meet some constraints is also proposed in order to go through and/or avoid singularities. The two formulations are combined and applied to an academic example (a planar redundant manipulator arm).