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|Title:||Constrained nonlinear finite-time control allocation||Authors:||Liao, F.
Finite time convergence
|Issue Date:||2007||Citation:||Liao, F.,Lum, K.-Y.,Wang, J.L.,Benosman, M. (2007). Constrained nonlinear finite-time control allocation. Proceedings of the American Control Conference : 3801-3806. ScholarBank@NUS Repository. https://doi.org/10.1109/ACC.2007.4282512||Abstract:||This paper proposed an optimal control allocation method for a general class of overactuated nonlinear systems with internal dynamics. Dynamic inversion technique is used for the commanded subsystem to track a stable model reference control law. The corresponding control allocation law has to guarantee the stability of the internal dynamics and satisfy control constraints. The proposed method is based on a Lyapunov design approach with finite-time convergence to optimality. The derived control allocation is in the form of a dynamic update law, which, together with the stable model reference control law, guarantees the stability of the closed-loop nonlinear system. ©2007 IEEE.||Source Title:||Proceedings of the American Control Conference||URI:||http://scholarbank.nus.edu.sg/handle/10635/111549||ISBN:||1424409888||ISSN:||07431619||DOI:||10.1109/ACC.2007.4282512|
|Appears in Collections:||Staff Publications|
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