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Adaptive control for nonlinear uncertain systems with actuator amplitude and rate saturation constraints
Author(s) -
Leonessa Alexander,
Haddad Wassim M.,
Hayakawa Tomohisa,
Morel Yannick
Publication year - 2009
Publication title -
international journal of adaptive control and signal processing
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.73
H-Index - 66
eISSN - 1099-1115
pISSN - 0890-6327
DOI - 10.1002/acs.1065
Subject(s) - control theory (sociology) , nonlinear system , amplitude , saturation (graph theory) , supervisor , actuator , tracking error , exponential stability , adaptive control , computer science , mathematics , physics , control (management) , law , artificial intelligence , quantum mechanics , combinatorics , political science
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.