Title :
Observer-based nonlinear control allocation
Author :
Fang Liao ; Kai-Yew Lum ; Jian Liang Wang
Author_Institution :
Temasek Labs., Nat. Univ. of Singapore, Singapore, Singapore
fDate :
June 30 2010-July 2 2010
Abstract :
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 converges to a given stable reference model as t → ∞.
Keywords :
Lyapunov methods; closed loop systems; control system synthesis; feedback; nonlinear control systems; observers; stability; Lyapunov-based approach; closed-loop system design; control allocation problem; model reference control; nonlinear observer design approach; observer-based nonlinear control allocation; output feedback; stable reference model; unmeasurable system state estimation; Actuators; Control systems; Cost function; Force control; Nonlinear systems; Observability; Observers; Output feedback; State estimation; Torque control; control allocation; nonlinear observer; nonlinear system;
Conference_Titel :
American Control Conference (ACC), 2010
Conference_Location :
Baltimore, MD
Print_ISBN :
978-1-4244-7426-4
DOI :
10.1109/ACC.2010.5531544
