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Title: Constrained nonlinear finite-time control allocation
Authors: Liao, F. 
Lum, K.-Y. 
Wang, J.L.
Benosman, M. 
Keywords: Control allocation
Control constraints
Finite time convergence
Lyapunov function
Nonlinear system
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.
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
ISBN: 1424409888
ISSN: 07431619
DOI: 10.1109/ACC.2007.4282512
Appears in Collections:Staff Publications

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