针对非仿射系统控制分配问题，采用奇异摄动理论和时间尺度分离特性，将非仿射控制分配对应的非线性代数方程求解问题，转化为对应于奇异摄动系统快动态的常微分方程，解决了非仿射系统控制分配在线求解困难、求解效率低的问题。将基于虚拟控制量设计的控制律应用于开环系统，形成奇异摄动系统慢动态，采用Tikhonov定理证明了完整奇异摄动闭环系统的稳定性。通过数值仿真检验了控制律的性能，结果表明本文提出的控制分配方法不依赖于特定控制理论设计的闭环控制律，可以解决非线性舵效、非对称舵面限幅、舵面卡死故障等非线性仿射系统的闭环控制分配问题。

A control allocation method for nonaffine systems is proposed based on the singular perturbations and time-scale separation. The nonlinear algebraic equations corresponding to nonaffine control allocation problems are converted to ordinary differential equations which are treated as the fast dynamics of singular perturbation systems. The control law designed based on the equivalent control effectiveness is applied to the plant, yielding the slow dynamics of singular perturbation systems. The stability of the closed-loop singular perturbation system is proved using Tikhonov’s theorem. Numerical simulations are conducted to examine the performance of the proposed control method. The simulation results indicate that the proposed control allocation method does not rely on specific control laws, and it addresses the nonaffine control problems such as nonlinear control effectiveness, asymmetric control limits, and actuator jamming.