Optimizing nonlinear control allocation

被引：59

作者：

Johansen, TA ^{[1
]}

机构：

[1] Norwegian Univ Sci & Technol, Dept Engn Cybernet, N-7491 Trondheim, Norway

来源：

2004 43RD IEEE CONFERENCE ON DECISION AND CONTROL (CDC), VOLS 1-5 | 2004年

关键词：

D O I：

10.1109/CDC.2004.1429240

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Control allocation is commonly utilized in overactuated mechanical systems in order to optimally generate a requested generalized force using a rediandant set of actuators. Using a control-Lyapunov approach, we develop an optimizing control allocation algorithm in the form of a dynamic update law, for a general class of nonlinear systems. The asymptotically optimal control allocation in interaction with an exponentially stable trajectory-tracking controller guarantees uniform boundedness and uniform global exponential convergence.

引用

页码：3435 / 3440

页数：6

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