Abstract
In this paper, we develop a direct model reference adaptive control framework for asymptotic adaptive tracking in the presence of actuator input amplitude and rate constraints for some classes of uncertain linear time-invariant systems and nonlinear systems. This framework also allows for rejection of bounded time-varying disturbances, without causing any chatter in the control input. Moreover, positive (ρ; μ)-modification is proposed to protect the control law from the actuator saturation limits. The design is model-based and ensures global asymptotic tracking for open-loop input-to-state stable systems, while an estimate of the domain of attraction is derived for local asymptotic tracking in the case of input-to-state unstable systems. The approach is illustrated with examples.
Original language | English (US) |
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Article number | 7039554 |
Pages (from-to) | 1256-1263 |
Number of pages | 8 |
Journal | Proceedings of the IEEE Conference on Decision and Control |
Volume | 2015-February |
Issue number | February |
DOIs | |
State | Published - Jan 1 2014 |
Externally published | Yes |
Event | 2014 53rd IEEE Annual Conference on Decision and Control, CDC 2014 - Los Angeles, United States Duration: Dec 15 2014 → Dec 17 2014 |
ASJC Scopus subject areas
- Control and Systems Engineering
- Modeling and Simulation
- Control and Optimization