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In this paper, a Lyapunov-based approach is proposed for control allocation problem based on output feedback and model reference control. A nonlinear observer design approach for a general class of nonlinear systems is used to estimate the unmeasurable system states. The proposed approach ensures that the estimated states exponentially converge to their true values and the designed closed-loop system...
This paper proposed an optimal control allocation method for a general class of overactuated nonlinear systems with internal dynamics. Dynamic inversion technique is used for the commanded subsystem to track a stable model reference control law. The corresponding control allocation law has to guarantee the stability of the internal dynamics and satisfy control constraints. The proposed method is based...
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