Constrained Nonlinear Finite-Time Control Allocation (original) (raw)

2007 American Control Conference, 2007

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

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