Development and application of control allocation for multi-effector vehicle

Control allocation is one of the key technologies in the control theory and application of the advanced multi-effector vehicle.Firstly,the typical effectors for multi-effector configuration are presented in this overview.Then,the latest research results of control allocation are discussed respectively from three aspects of static,dynamic and nonlinear control allocation.,which mainly concentrate on the applications in the aeronautic,astronautic and other industries.Finally,several key issues in control allocation are summarized,and the future potential research directions are discussed.