  This paper proposes an adaptive control allocation approach for uncertain
over-actuated systems with actuator saturation. The proposed method does not
require uncertainty estimation or a persistent excitation assumption. Using the
element-wise non-symmetric projection algorithm, the adaptive parameters are
restricted to satisfy certain optimality conditions leading to overall closed
loop system stability. Furthermore, a sliding mode controller with a
time-varying sliding surface, working in tandem with the adaptive control
allocation, is proposed to guarantee the outer loop stability and reference
tracking in the presence of control allocation errors and disturbances.
Simulation results are provided, where the Aerodata Model in Research
Environment is used as an over-actuated system with actuator saturation, to
demonstrate the effectiveness of the proposed method.
