过驱动系统是一类控制输入数多于输出数的系统,冗余控制为控制器的设计提供更大自由度的同时也提出挑战。控制分配是处理冗余控制的一种常用方法,同时对驱动器故障具有一定的容错能力。但是控制分配可能会导致系统不稳定,所以设计控制器时必须考虑这种不稳定因素的影响。基于控制分配的稳定性设计方法正是针对这种情况而提出。根据不同原理,这些方法可以概括为零动态方法,优化方法,内动态方法,滑模方法,模型预测方法和智能方法等。概括了这些方法的基本思路,并指出其不足之处,进一步提出新的研究方向。 Overdrive systems are a type of system that controls more inputs than outputs. Redundancy control offers more freedom for the controller design as well as challenges. Controlling distribution is a common method of handling redundant controls and has some fault tolerance to drive failures. However, the control of allocation may lead to system instability, so the design of the controller must take into account the impact of this instability. It is precisely for this situation that the method of stability design based on control distribution is proposed. According to different principles, these methods can be summarized as zero dynamic method, optimization method, inner dynamic method, sliding mode method, model prediction method and intelligent method. Summarized the basic idea of ​​these methods, and pointed out its shortcomings, further proposed new research directions.