ON OPTIMIZING NONLINEAR ADAPTIVE CONTROL ALLOCATION WITH ACTUATOR DYNAMICS

摘要

In this work we address the optimizing control allocation problem for a nonlinear over-actuated time-varying system where parameters affine in the dynamic actuator and effector model may be assumed unknown. In-stead of finding the optimal control allocation at each time instant, a dynamic approach is considered by constructing update-laws that represent asymptotically optimal allocation search and adaptation. Using Lyapunov analysis for cascaded set-stable systems, uniform global/local asymptotic stability is guaranteed for the optimal set described by the system, the optimal allocation update-law and the adaptive update-law. Simulations of a scaled-model ship, manoeuvred at low-speed, demonstrate the performance of the proposed allocation scheme.