Optimizing nonlinear control allocation

Control allocation is commonly utilized in overactuated mechanical systems in order to optimally generate a requested generalized force using a redundant set of actuators. Using a control-Lyapunov approach, we develop an optimizing control allocation algorithm in the form of a dynamic update law, for a general class of nonlinear systems. The asymptotically optimal control allocation in interaction with an exponentially stable trajectory-tracking controller guarantees uniform boundedness and uniform global exponential convergence.