Lyapunov-based Control Allocation for Over-actuated Nonlinear Systems

This paper deals with the distribution of control effort in over-actuated nonlinear systems using control allocation (CA) methods. The developed CA methods rely on constrained optimization and have two key features. First, Lyapunov-based constraints and cost function are inserted into the optimization problem to improve the controller's response to unattainable virtual inputs. Second, the CA formulation is enhanced with control barrier functions to enforce state constraints. The effectiveness of the proposed CA methods is demonstrated through simulation tests of a motion controller for an over-actuated road vehicle.