Adaptive control allocation

被引：105

作者：

Tjonnas, Johannes ^{[1
]}

Johansen, Tor A. ^{[1
]}

机构：

[1] Norwegian Univ Sci & Technol, Dept Engn Cybernet, N-7034 Trondheim, Norway

来源：

AUTOMATICA | 2008年 / 44卷 / 11期

关键词：

Control allocation; Adaptive control; Nonlinear systems; Cascaded systems; Optimization;

D O I：

10.1016/j.automatica.2008.03.031

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this work 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. (C) 2008 Elsevier Ltd. All rights reserved.

引用

页码：2754 / 2765

页数：12

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