The control algorithm hierarchy of motion control for over-actuated mechanical systems with
a redundant set of effectors and actuators commonly includes three levels. First, a high-level …

AS ONE of the most important parts of a spacecraft completing its mission on orbit, attitude
control has attracted a great deal of interest. In practice, considering the safety and reliability …

In this article, the constrained control allocation is proposed for overactuated ocean surface
vessels with parametric uncertainties and unknown external disturbances. The constrained …

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 …

A model reference control allocation (CA) method is modified to become a control allocation
method with integrator (CAI), it significantly improves control performance while readily …

An adaptive control allocation method is presented for a general class of non-linear systems
with internal dynamics and unknown parameters. A certainty equivalence indirect adaptive …

The main novelty of this paper is to introduce a new real-time optimized control allocation
(CA) method of the currents scalable to any modular multilevel converter (MMC). It can be …

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 …

The paper introduces a novel, scalable control allocation (CA) formulation for active
capacitor balancing of the Modular Multilevel Converter (MMC). The formulation is obtained …

In the context of a rise in the use of static power converters, the beneficial features of
Multilevel Modular Converters (MMCs) have led to their popularization. However, as the …