Nonlinear control allocation for non-minimum phase systems

Mouhacine Benosman, Fang Liao, Kai Yew Lum, Jian Liang Wang

Research output: Journal PublicationArticlepeer-review

41 Citations (Scopus)

Abstract

In this brief, we propose a control allocation method for a particular class of uncertain over-actuated affine nonlinear systems, with unstable internal dynamics. Dynamic inversion technique is used for the commanded output to track a smooth output reference trajectory. The corresponding control allocation law has to guarantee the boundedness of the states, including the internal dynamics, and satisfy control constraints. The proposed method is based on a Lyapunov design approach with finite-time convergence to a given invariant set. The derived control allocation is in the form of a dynamic update law which, together with a sliding mode control law, guarantees boundedness of the output tracking error as well as of the internal dynamics. The effectiveness of the control law is tested on a numerical model of the non-minimum phase planar vertical take-off and landing (PVTOL) system.

Original languageEnglish
Pages (from-to)394-404
Number of pages11
JournalIEEE Transactions on Control Systems Technology
Volume17
Issue number2
DOIs
Publication statusPublished - 2009
Externally publishedYes

Keywords

  • Anonlinear system
  • Control allocation
  • Control constraints
  • Finite time convergence
  • Lyapunov function
  • Non-minimum phase

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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