Globally finite-time stable nonlinear control allocation for aircraft with multiple control effectors

With respect to aircraft with redundant multiple control effectors, a nonlinear controller, which is composed of a virtual control law and a dynamic control allocation with position constraints of effectors, is designed. Based on set stability theory in the sense of Lyapunov stability, globally asymptotic stability of upper control subsystem, globally finite time stability of dynamic control allocation subsystem and globally asymptotic stability of overall closed-loop system are proved respectively. Simulation results show the effectiveness of the proposed method.