Please use this identifier to cite or link to this item: https://doi.org/10.1109/TCST.2008.924568
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dc.titleNonlinear control allocation for non-minimum phase systems
dc.contributor.authorBenosman, M.
dc.contributor.authorLiao, F.
dc.contributor.authorLum, K.-Y.
dc.contributor.authorWang, J.L.
dc.date.accessioned2014-11-28T01:52:18Z
dc.date.available2014-11-28T01:52:18Z
dc.date.issued2009
dc.identifier.citationBenosman, M., Liao, F., Lum, K.-Y., Wang, J.L. (2009). Nonlinear control allocation for non-minimum phase systems. IEEE Transactions on Control Systems Technology 17 (2) : 394-404. ScholarBank@NUS Repository. https://doi.org/10.1109/TCST.2008.924568
dc.identifier.issn10636536
dc.identifier.urihttp://scholarbank.nus.edu.sg/handle/10635/111446
dc.description.abstractIn this brief, we propose a control allocation method for a particular class of uncertain over-actuated affine nonlinear systems, with unstable internal dynamics. Dynamic inversion technique is used for the commanded output to track a smooth output reference trajectory. The corresponding control allocation law has to guarantee the boundedness of the states, including the internal dynamics, and satisfy control constraints. The proposed method is based on a Lyapunov design approach with finite-time convergence to a given invariant set. The derived control allocation is in the form of a dynamic update law which, together with a sliding mode control law, guarantees boundedness of the output tracking error as well as of the internal dynamics. The effectiveness of the control law is tested on a numerical model of the non-minimum phase planar vertical take-off and landing (PVTOL) system. © 2008 IEEE.
dc.description.urihttp://libproxy1.nus.edu.sg/login?url=http://dx.doi.org/10.1109/TCST.2008.924568
dc.sourceScopus
dc.subjectAnonlinear system
dc.subjectControl allocation
dc.subjectControl constraints
dc.subjectFinite time convergence
dc.subjectLyapunov function
dc.subjectNon-minimum phase
dc.typeArticle
dc.contributor.departmentTEMASEK LABORATORIES
dc.description.doi10.1109/TCST.2008.924568
dc.description.sourcetitleIEEE Transactions on Control Systems Technology
dc.description.volume17
dc.description.issue2
dc.description.page394-404
dc.description.codenIETTE
dc.identifier.isiut000263832000011
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