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- W2118328150 abstract "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." @default.
- W2118328150 created "2016-06-24" @default.
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- W2118328150 date "2004-01-01" @default.
- W2118328150 modified "2023-09-28" @default.
- W2118328150 title "Optimizing nonlinear control allocation" @default.
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- W2118328150 doi "https://doi.org/10.1109/cdc.2004.1429240" @default.
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