Design of a Control Allocation Solution for the Winged Reusable Launch Vehicle ReFEx

This paper presents a control allocation solution for the technology demonstrator mission ReFEx, which focuses on a vertical takeoff and horizontal landing strategy with autonomous navigation, online guidance, and controlled flight throughout the mission. The trajectory for the demonstration flight is aimed as one for a winged launch vehicle first stage: maintaining stability and control of the vehicle while reaching a predefined target. During the atmospheric phase the vehicle is stabilized by using an active aerodynamic control system which transforms inputs from the guidance and navigation systems into control commands for the individual actuators. In that sense, the control allocation subsystem translates commanded moments into commanded aerodynamic surface deflections. Due to the effect of modeling uncertainties, navigation errors, and underactuated regions, this subsystem needs to be robustified. The algorithm proposed in this paper addresses this challenge via a combination of the deflections required to trim the vehicle together with delta-deflections that aim at converging iteratively to the commanded moments. The combination of these two contributions is able to respond fast to state changes, compensate for modeling uncertainties and navigation errors, and provide a safe mode for the underactuated regions. The performance of the system is studied using a high-fidelity simulator