Adaptive control allocation |
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Authors: | Johannes Tjønnås [Author Vitae] Tor A Johansen [Author Vitae] |
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Affiliation: | Department of Engineering Cybernetics, Norwegian University of Science and Technology, Trondheim, Norway |
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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. |
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Keywords: | Control allocation Adaptive control Nonlinear systems Cascaded systems Optimization |
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