Evaluation of optimization methods for control allocation

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Load Balancing in Control Allocation (2011, methodology): “The plots show the results of mixed l1 optimization using the algorithm of [6] (solid), of mixed l2 optimization using the algorithm of [9] (dashed), and of mixed l1 l1 optimization using the algorithm of [6] modified as indicated in this paper (dotted).”
Resolving actuator redundancy - optimal control vs. control allocation (2005, neutral): “6”
Control allocation - A survey (2013, methodology): “As observed in Bodson (2002), anti-cycling procedures are indeed needed since symmetric effectors may easily lead to degeneracies in the control allocation problem.”
Constrained nonlinear control allocation with singularity avoidance using sequential quadratic programming (2004, methodology): “Although explicit solutions are desirable due to their simple and efficient implementation, the use of real-time numerical optimization has been suggested, see [4], [8], [16], [17].”
Fault‐tolerant adaptive control allocation schemes for overactuated systems (2010, methodology): “Owing to its relevance, especially in flight control systems, CAP has been deeply investigated in the last decade and several methods have been proposed: Daisy chaining [2], direct control allocation [3], convex optimization-based algorithms [4–10] and pseudo-inverse-redistribution methods [11, 12].”