Article ID | Journal | Published Year | Pages | File Type |
---|---|---|---|---|
697991 | Automatica | 2008 | 12 Pages |
Abstract
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.
Related Topics
Physical Sciences and Engineering
Engineering
Control and Systems Engineering
Authors
Johannes Tjønnås, Tor A. Johansen,