Optimizing Nonlinear Adaptive Control Allocation

Authors:	Tjønnås Johannes, Norwegian University of Science and Technology, Norway Johansen Tor Arne, Norwegian University of Science and Technology, Norway
Topic:	2.3 Non-Linear Control Systems
Session:	Adaptive Nonlinear Control
Keywords:	Nonlinear systems. Adaptive control. Control allocation.

Abstract

A control-Lyapunov approach is used to develop an adaptive optimizing controlallocation algorithm for over-actuated mechanical systems where the actuator modelis affine in the uncertain parameters. Uniform global (asymptotic) stability is guaranteed bythe control allocation defined by the dynamic update laws in combination with an exponentially stable controller.