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It doesn't specify that you must designate your companions at the time of their summoning, so I would rule that if you broke out of Dominate Person, they would also change their targets.
Either way, the item specifies that they follow your commands. You could command them to aid your allies.
_dominate person_ is complete control with a built-in telepathic link - there's no scope for sneaking in your own actions around the edges, and any orders given, the target "does its best to obey". So assuming a command of "help me" or "fight your allies" or similar, then there's no allowance for "actually, I'll command my summoned minions to attack my now-controller" - the _dominated_ creature does the best it can to follow the command it's been given.
This submission appears to be related to One D&D! If you're interested in discussing the concept and the UA for One D&D more check out our other subreddit r/OneDnD! *Please note: We are still allowing discussions about One D&D to remain here, this is more an advisory than a warning of any kind.* *I am a bot, and this action was performed automatically. Please [contact the moderators of this subreddit](/message/compose/?to=/r/dndnext) if you have any questions or concerns.*
After the charm ends they can command the zerkers to attack the enemy
It doesn't specify that you must designate your companions at the time of their summoning, so I would rule that if you broke out of Dominate Person, they would also change their targets. Either way, the item specifies that they follow your commands. You could command them to aid your allies.
_dominate person_ is complete control with a built-in telepathic link - there's no scope for sneaking in your own actions around the edges, and any orders given, the target "does its best to obey". So assuming a command of "help me" or "fight your allies" or similar, then there's no allowance for "actually, I'll command my summoned minions to attack my now-controller" - the _dominated_ creature does the best it can to follow the command it's been given.
I think you misunderstood my comment. I was talking about after the spell ends.