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Control allocation problem is the key of cooperation control systems and has attracted a lot of attention of researchers. This paper proposes a nonlinear control allocation framework to provide a common optimal solution for decentralized cooperation control systems. The framework includes the allocation controller and feedback control law. In which, the allocation controller is designed to realize some control strategy and the feedback control law provides asymptotic stability for the entire framework. Also, they are implemented decentralizedly and can adapt to complex nonlinear control allocation scenes. Thus it is easy to apply and is very suitable for various complex decentralized control applications. In addition, it seems to be a promise method to solve large-scale optimal control problems.