A dynamic optimization approach to steady-state input allocation for nonlinear redundant systems

This paper addresses the problem of dynamic input allocation for nonlinear systems that exhibit a redundant input configuration and admit a periodic steady-state behavior. The control task is formulated in a general framework that encompasses a wide variety of practical scenarios, providing greater flexibility in the definition of the operators involved. The peculiar challenges posed by nonlinear control allocation problems are then examined from a different perspective, offered by a formulation in the context of optimal control theory. The similarities and differences between the two formulations are highlighted and discussed, with the aim of establishing a link between the two subjects in order to share their respective tools and results. Finally, an algorithm to determine approximate solutions to the control allocation problem is developed and refined using dynamic optimization tools.