SQP based control allocation for multiple effectors with interactions
YI Jian, CHEN Yong, DONG Xin-min, ZHI Jian-hui, CHENG Jian-feng
Systems Engineering and Electronics . 2016, (11): 2617 -2623 .  DOI: 10.3969/j.issn.1001-506X.2016.11.24