## “Optimizing Adaptive Control Allocation With Actuator Dynamics”Authors: Johannes Tjønnås and Tor A. Johansen,
Affiliation: NTNU, Department of Engineering Cybernetics
Reference: 2008, Vol 29, No 2, pp. 69-76. |

**Keywords:**Control allocation; Adaptive control; Nonlinear systems

**Abstract:**In this work we address the optimizing control allocation problem for an over-actuated nonlinear time- varying system with actuator dynamic where parameters affine in the actuator and effector model may be assumed unknown. Instead of optimizing the control allocation at each time instant, a dynamic approach is considered by constructing actuator reference update-laws that represent an asymptotically optimal allocation search. By using Lyapunov analysis for cascaded set-stable systems, uniform global/local asymptotic stability is guaranteed for the optimal equilibrium sets described by the system, the control allocation update-law and the adaptive update-law, if some persistence of exitation condition holds. Simulations of a scaled-model ship, manoeuvred at low-speed, demonstrate the performance of the proposed allocation scheme.

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**BibTeX:**

@article{MIC-2008-2-4,

title={{Optimizing Adaptive Control Allocation With Actuator Dynamics}},

author={Tjønnås, Johannes and Johansen, Tor A.},

journal={Modeling, Identification and Control},

volume={29},

number={2},

pages={69--76},

year={2008},

doi={10.4173/mic.2008.2.4},

publisher={Norwegian Society of Automatic Control}

};