US 12,454,347 B2
Methods and apparatus for allocating control effector commands to reduce vehicle deviations from a commanded trajectory
Joseph George Irwin, III, Landenberg, PA (US); Pieter Gerard Einthoven, West Chester, PA (US); Benjamin Horn Oster, Media, PA (US); and Patrick Smith, Philadelphia, PA (US)
Assigned to The Boeing Company, Arlington, VA (US)
Filed by The Boeing Company, Arlington, VA (US)
Filed on Dec. 21, 2023, as Appl. No. 18/393,495.
Prior Publication US 2025/0206439 A1, Jun. 26, 2025
Int. Cl. B64C 13/00 (2006.01); B64C 9/10 (2006.01); B64C 13/16 (2006.01); B64C 13/50 (2006.01); G05D 1/646 (2024.01)
CPC B64C 13/16 (2013.01) [B64C 9/10 (2013.01); B64C 13/503 (2013.01); G05D 1/646 (2024.01)] 20 Claims
OG exemplary drawing
 
1. An apparatus, comprising:
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 over-actuated vehicle.