Optimizing nonlinear control allocation

Author

Johansen, Tor A.

Author_Institution

Dept. of Eng. Cybern., Norwegian Univ. of Sci. & Technol., Trondheim, Norway

Volume

4

fYear

2004

fDate

14-17 Dec. 2004

Firstpage

3435

Abstract

Control allocation is commonly utilized in overactuated mechanical systems in order to optimally generate a requested generalized force using a redundant 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.

Keywords

asymptotic stability; nonlinear control systems; optimal control; asymptotically optimal control allocation; control-Lyapunov approach; dynamic update law; exponentially stable trajectory-tracking controller; generalized force; nonlinear systems; optimizing nonlinear control allocation; overactuated mechanical systems; uniform boundedness; uniform global exponential convergence; Actuators; Control systems; Convergence; Cost function; Force control; Mechanical systems; Nonlinear control systems; Nonlinear dynamical systems; Nonlinear systems; Optimal control;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control, 2004. CDC. 43rd IEEE Conference on

ISSN

0191-2216

Print_ISBN

0-7803-8682-5

Type

conf

DOI

10.1109/CDC.2004.1429240

Filename

1429240