@inproceedings{4a47feb7f6f440cbab12cc0eba87e61d,
title = "Constrained nonlinear finite-time control allocation",
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 a Lyapunov design approach with finite-time convergence to optimality. The derived control allocation is in the form of a dynamic update law, which, together with the stable model reference control law, guarantees the stability of the closed-loop nonlinear system.",
keywords = "Control allocation, Control constraints, Finite time convergence, Lyapunov function, Nonlinear system",
author = "Fang Liao and Lum, {Kai Yew} and Wang, {Jian Liang} and Mouhacine Benosman",
year = "2007",
doi = "10.1109/ACC.2007.4282512",
language = "English",
isbn = "1424409888",
series = "Proceedings of the American Control Conference",
pages = "3801--3806",
booktitle = "Proceedings of the 2007 American Control Conference, ACC",
note = "2007 American Control Conference, ACC ; Conference date: 09-07-2007 Through 13-07-2007",
}