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|Title:||Adaptive control allocation for non-linear systems with internal dynamics||Authors:||Liao, F.
|Issue Date:||2010||Citation:||Liao, F., Lum, K.-Y., Wang, J.L., Benosman, M. (2010). Adaptive control allocation for non-linear systems with internal dynamics. IET Control Theory and Applications 4 (6) : 909-922. ScholarBank@NUS Repository. https://doi.org/10.1049/iet-cta.2009.0101||Abstract:||An adaptive control allocation method is presented for a general class of non-linear systems with internal dynamics and unknown parameters. A certainty equivalence indirect adaptive approach is used to estimate the unknown parameters. Based on the estimated parameters, model reference control and control allocation techniques are used to control the non-linear system subject to control constraints and internal dynamics stabilisation. A Lyapunov design approach with the property of convergence to a positively invariant set is proposed. The derived adaptive control allocation is in the form of a dynamic update law, which, together with a stable model reference control, guarantees that the closed-loop non-linear system be input-to-state stable. © 2010 The Institution of Engineering and Technology.||Source Title:||IET Control Theory and Applications||URI:||http://scholarbank.nus.edu.sg/handle/10635/111319||ISSN:||17518644||DOI:||10.1049/iet-cta.2009.0101|
|Appears in Collections:||Staff Publications|
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