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 each effector, is designed. Based on Lyapunov stability theory and LaSalle invariant set theorem, asymptotic stabilities of upper control subsystem, dynamic control allocation subsystem and overall closed-loop system are proved respectively. Simulation results show the effectiveness of the proposed method.
H. Li et al., "Stable Nonlinear Control Allocation for Aircraft with Multiple Control Effectors", Applied Mechanics and Materials, Vols. 138-139, pp. 404-409, 2012