Control allocation and compensation for over-actuated systems with non-linear effectors

Control allocation techniques for inversion-based control laws have evolved that ensure that commands to the control effectors do not violate rate or position limits of the individual effectors. These allocation techniques typically assume that all effector dynamics are fast relative to the system being controlled and are therefore neglected. Unfortunately there are practical cases where this assumption breaks down and it becomes desirable to compensate for lags between the commands to the effectors and the effector response. In this paper, a technique for compensating for individual effector dynamics while respecting actuator constraints is proposed.