  This paper proposes a projection algorithm which can be employed to bound
actuator signals, in terms of both magnitude and rate, for uncertain systems
with redundant actuators. The investigated closed loop control system is
assumed to contain an adaptive control allocator to distribute the total
control input among actuators. Although conventional control allocation methods
can handle actuator rate and magnitude constraints, they cannot consider
actuator uncertainty. On the other hand, adaptive allocators manage uncertainty
and actuator magnitude limits. The proposed projection algorithm enables
adaptive control allocators to handle both magnitude and rate saturation
constraints. A mathematically rigorous analysis is provided to show that with
the help of the proposed projection algorithm, the performance of the adaptive
control allocator can be guaranteed, in terms of error bounds. Simulation
results are presented, where the Aero-Data Model In Research Environment
(ADMIRE) is used as an over-actuated system, to demonstrate the effectiveness
of the proposed method.
