“Optimizing nonlinear adaptive control allocation”

Authors: Johannes Tjønnås and Tor A. Johansen,
Affiliation: NTNU, Department of Engineering Cybernetics and SINTEF
Reference: 2006, Vol 27, No 1, pp. 43-56.

Keywords: Nonlinear systems, adaptive control, control allocation

Abstract: 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.

PDF PDF (709 Kb)        DOI: 10.4173/mic.2006.1.3

DOI forward links to this article:
[1] Johannes Tjonnas and Tor Arne Johansen (2007), doi:10.1109/CDC.2007.4434782
[2] Andrea Serrani, Alicia M. Zinnecker, Lisa Fiorentini, Michael A. Bolender and David B. Doman (2009), doi:10.1109/ACC.2009.5160694
[3] Johannes Tjonnaas and Tor Arne Johansen (2006), doi:10.1109/MED.2006.328748
[4] Johannes Tjonnas, Antoine Chaillet, Elena Pantele and Tor Arne Johansen (2006), doi:10.1109/CDC.2006.376841
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  title={{Optimizing nonlinear adaptive control allocation}},
  author={Tjønnås, Johannes and Johansen, Tor A.},
  journal={Modeling, Identification and Control},
  publisher={Norwegian Society of Automatic Control}