Nonlinear Control Allocation for Non-Minimum Phase Systems

作者：Benosman Mouhacine^*; Liao Fang; Lum Kai Yew; Wang Jian Liang

来源：IEEE Transactions on Control Systems Technology, 2009, 17(2): 394-404.

DOI：10.1109/TCST.2008.924568

• Control allocation
• control constraints
• finite time convergence
• Lyapunov function
• nonlinear system
• non-minimum phase

In this brief, we propose a control allocation method for a particular class of uncertain over-actuated affine nonlinear systems, with unstable internal dynamics. Dynamic inversion technique is used for the commanded output to track a smooth output reference trajectory. The corresponding control allocation law has to guarantee the boundedness of the states, including the internal dynamics, and satisfy control constraints. The proposed method is based on a Lyapunov design approach with finite-time convergence to a given invariant set. The derived control allocation is in the form of a dynamic update law which, together with a sliding mode control law, guarantees boundedness of the output tracking error as well as of the internal dynamics. The effectiveness of the control law is tested on a numerical model of the non-minimum phase planar vertical take-off and landing (PVTOL) system.

• 出版日期2009-3
• 单位南阳理工学院