Stable adaptation in the presence of multiple actuator constraints with applications to flight control

For a class of multi-input dynamical systems with unknown parameters and matched uncertainties a direct model reference adaptive control framework is developed that provides stable adaptation in the presence of multi-input constraints. The design is Lyapunov based and ensures global asymptotic tracking for open-loop stable systems. For unstable systems an estimate for the domain of attraction is derived based on the saturation magnitudes of actuators and system parameters. The theoretical results are verified using linear roll/yaw dynamics of an F-16 aircraft, where benefits of the developed methodology are demonstrated in the presence of aerodynamic uncertainties and control failures.