Nonlinear Control Allocation for Non-Minimum Phase Systems.

Abstract-In this brief, we propose a control allocation method for a particular class of uncertain over-actuated affine nonlinear systems, with unstable internal dynamics. Dynamic inversion technique is used for the commanded output to track a smooth output reference trajectory. The corresponding controlallocation law has to guarantee the boundedness of the states, including the internal dynamics, and satisfy control constraints. The proposed method is based on a Lyapunov design approach with finite-time convergence to a given invariant set. The derived control allocation is in the form of a dynamic update law which, together with a sliding mode control law, guarantees boundedness of the output tracking error as well as of the internal dynamics. The effectiveness of the control law is tested on a numerical model of the non-minimum phase planar vertical take-off and landing (P VIOL) system. [ABSTRACT FROM AUTHOR]