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2004 43rd IEEE Conference on Decision and Control (CDC) (IEEE Cat. No.04CH37601)
Control allocation is commonly utilized in over-actuated 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 anddoi:10.1109/cdc.2004.1429240 fatcat:6qip5d2fsrcw7jjjocvgkpzptq