Nonlinear setpoint regulation of dynamically redundant actuators

In this paper we propose a control scheme to induce optimal input allocation of dynamically redundant nonlinear actuators whose dynamics satisfies some suitable regularity and stability assumption. The allocation scheme is parametrized by a cost function associated with the most desirable actuator configuration and guarantees convergence to the desired set point as well as to the minimum of the cost function. The overall scheme is also shown to reduce, in some special cases, to a nonlinear version of a PI type of control action. The proposed technique is illustrated on a simulation example inspired by an industrial application.