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 …

Marine vessels with dynamic positioning (DP) capability are typically equipped with
sufficient number of thrusters to make them overactuated and with satellite navigation and …

A coordinated reconfigurable vehicle dynamics control (CRVDC) system is achieved by high-
level control of generalized forces/moment, distributed to the slip and slip angle of each tire …

It is generally assumed in dynamic positioning of over-actuated marine vessels that the
control effectiveness matrix (input matrix) is known and constant, or, in case of fault …

In this work we address the control allocation problem for a nonlinear over-actuated time-
varying system where parameters affine in the effector model may be assumed unknown …

This paper introduces a new formulation of dynamic control allocation as a dynamic
optimization problem. This optimal control formulation allows us to develop allocation with …

To improve the vehicle stability of an electric vehicle (EV) with four in‐wheel motors, the
authors investigate the use of a non‐linear control allocation scheme based on model …

CONTROL laws for hypersonic reentry vehicles typically consist of multiple loops employing
linear and nonlinear methodologies, ultimately specifying moments or angular accelerations …

This paper presents a control algorithm for the parallel interconnection of heterogeneous
power converters. A single resistive load is assumed to be fed by an arbitrary number of …

A novel hierarchical direct yaw moment controller is designed to enhance the lateral stability
of the four-wheel-drive electric vehicle. The adaptive sliding mode control (ASMC) technique …