A Nonlinear Control Allocation Framework for Complex Decentralized Cooperation Control System

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 firamework to provide a common optimal solution for decentralized cooperation control systems. By decomposing the control allocation problem into static optimal problem and dynamic stabilizing/tracking problem, an effective way to design the allocation controller and feedback control law is given in the paper. 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 such as multiple robots cooperation, network congestion control, supply and demand equilibrium control of free market and so on. In addition, it seems to be a promise method to solve large-scale optimal control problems.