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Adaptive control allocation. (English) Zbl 1152.93038

Summary: We address the control allocation problem for a nonlinear over-actuated time-varying system where parameters affine in the effector model may be assumed unknown. Instead of optimizing the control allocation at each time instant, a dynamic approach is considered by constructing update-laws that represent asymptotically optimal allocation search and adaptation. Using Lyapunov analysis for cascaded set-stable systems, uniform global/local asymptotic stability is guaranteed for the sets described by the system, the optimal allocation update-law and the adaptive update-law.

MSC:

93C40 Adaptive control/observation systems
93D20 Asymptotic stability in control theory
93C15 Control/observation systems governed by ordinary differential equations
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