1 adaptive controller in the presence of input saturation

Dapeng Li, Naira Hovakimyan, Chengyu Cao

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This paper presents a proof of stability and performance bounds of the ℒ1 adaptive control architecture in the presence of input constraints. We prove that by appropriate modification of the state predictor, which is used for the definition of the error signal in the adaptive laws, the stability and the performance bounds of the ℒ1 adaptive controller can be quantified within an appropriately defined do- main of attraction. While for open-loop stable system the results are global, for open-loop unstable systems the domain of attraction is shown to depend upon the conservative knowledge of the uncertain parameters, the choice of the filter and the amplitude constraint of the actuator. The performance bounds can be sys- tematically improved by increasing the rate of adaptation. Simulations verify the theoretical findings.

Original languageEnglish (US)
Title of host publicationAIAA Guidance, Navigation, and Control Conference and Exhibit
StatePublished - Dec 1 2009
EventAIAA Guidance, Navigation, and Control Conference and Exhibit - Chicago, IL, United States
Duration: Aug 10 2009Aug 13 2009

Publication series

NameAIAA Guidance, Navigation, and Control Conference and Exhibit

Other

OtherAIAA Guidance, Navigation, and Control Conference and Exhibit
CountryUnited States
CityChicago, IL
Period8/10/098/13/09

ASJC Scopus subject areas

  • Aerospace Engineering
  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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