Optimizing nonlinear adaptive control allocation
A control-Lyapunov approach is used to develop an adaptive optimizing control allocation algorithm for over-actuated mechanical systems where the actuator model is affine in the uncertain parameters. Uniform global (asymptotic) stability is guaranteed by the control allocation defined by the dynamic...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
| Published: |
Norwegian Society of Automatic Control
2006-01-01
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| Series: | Modeling, Identification and Control |
| Subjects: | |
| Online Access: | http://www.mic-journal.no/PDF/2006/MIC-2006-1-3.pdf |