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Adaptive control allocation

2008; Elsevier BV; Volume: 44; Issue: 11 Linguagem: Inglês

10.1016/j.automatica.2008.03.031

1873-2836

Johannes Tjønnås, Tor Arne Johansen,

Stability and Control of Uncertain Systems

In this work we address the control allocation problem for a nonlinear over-actuated time-varying system where parameters affine in the effector model may be assumed unknown. Instead of optimizing the control allocation at each time instant, a dynamic approach is considered by constructing update-laws that represent asymptotically optimal allocation search and adaptation. Using Lyapunov analysis for cascaded set-stable systems, uniform global/local asymptotic stability is guaranteed for the sets described by the system, the optimal allocation update-law and the adaptive update-law.