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    AUTOMATICA
    2005
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    Resolving actuator redundancy - optimal control vs. control allocation
    13 years 4 months ago
    Resolving actuator redundancy - optimal control vs. control allocation
    Download  research.harkegard.se
    This paper considers actuator redundancy management for a class of overactuated nonlinear systems. Two tools for distributing the control effort among a redundant set of actuators...
    Ola Härkegård, Torkel Glad
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