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 |
Summary: | 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 update laws in combination with an exponentially stable controller. |
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ISSN: | 0332-7353 1890-1328 |