Standard INDI plus incremental control allocation is invalid for nonaffine input systems due to untenable linear approximations, and a learning-based nonlinear allocation method provides a fast, effective alternative.
Minimum power control allocation for incremental control of over-actuated transition aircraft,
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Improving INDI for Input Nonaffine Systems via Learning-Based Nonlinear Control Allocation
Standard INDI plus incremental control allocation is invalid for nonaffine input systems due to untenable linear approximations, and a learning-based nonlinear allocation method provides a fast, effective alternative.