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Adaptive control for nonlinear uncertain systems with actuator amplitude and rate saturation constraints |
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| Authors: | Alexander Leonessa Wassim M. Haddad Tomohisa Hayakawa Yannick Morel |
| Affiliation: | 1. Mechanical Engineering Department, Virginia Polytechnic Institute and State University, Blacksburg, VA 24061‐0238, U.S.A.;2. School of Aerospace Engineering, Georgia Institute of Technology, Atlanta, GA 30332‐0150, U.S.A.;3. Mechanical and Environmental Informatics Departments, Tokyo Institute of Technology, Tokyo 152‐8552, Japan |
| Abstract: | A direct adaptive nonlinear tracking control framework for multivariable nonlinear uncertain systems with actuator amplitude and rate saturation constraints is developed. To guarantee asymptotic stability of the closed‐loop tracking error dynamics in the face of amplitude and rate saturation constraints, the control signal to a given reference (governor or supervisor) system is modified to effectively robustify the error dynamics to the saturation constraints. Illustrative numerical examples are provided to demonstrate the efficacy of the proposed approach. Copyright © 2008 John Wiley & Sons, Ltd. |
| Keywords: | adaptive nonlinear control adaptive tracking nonlinear uncertain systems actuator nonlinearities amplitude saturation rate saturation |