Adaptive control allocation for non-linear systems with internal dynamics

An adaptive control allocation method is presented for a general class of non-linear systems with internal dynamics and unknown parameters. A certainty equivalence indirect adaptive approach is used to estimate the unknown parameters. Based on the estimated parameters, model reference control and control allocation techniques are used to control the non-linear system subject to control constraints and internal dynamics stabilisation. A Lyapunov design approach with the property of convergence to a positively invariant set is proposed. The derived adaptive control allocation is in the form of a dynamic update law, which, together with a stable model reference control, guarantees that the closed-loop non-linear system be input-to-state stable.