Adaptive nonlinear control allocation of non-minimum phase uncertain systems

  • Authors:

  • Fang Liao;Kai-Yew Lum;Jian Liang Wang;Mouhacine Benosman

  • Affiliations:

  • Temasek Laboratories, National University of Singapore, Singapore;Temasek Laboratories, National University of Singapore;School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore;Temasek Laboratories, National University of Singapore

  • Venue:
  • ACC'09 Proceedings of the 2009 conference on American Control Conference
  • Year:
  • 2009

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Abstract

This paper presents an adaptive nonlinear control allocation method for a general class of non-minimum phase uncertain systems. Indirect adaptive approach and Lyapunov design approach are applied to the design of adaptive control allocation. The derived adaptive control allocation law, together with a stable model reference control, guarantees that the closed-loop nonlinear system is input-to-state stable.