Open AccessAdaptive control with convex saturation constraints
Author(s) -
Yan Jin,
Santos Davi Antônio,
Bernstein Dennis S.
Publication year - 2014
Publication title -
iet control theory and applications
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.059
H-Index - 108
eISSN - 1751-8652
pISSN - 1751-8644
DOI - 10.1049/iet-cta.2013.0528
Subject(s) - control theory (sociology) , thrust , regular polygon , constraint (computer aided design) , convex optimization , saturation (graph theory) , quadratic equation , mathematical optimization , convex function , mathematics , computer science , control (management) , engineering , artificial intelligence , geometry , combinatorics , aerospace engineering
This study applies retrospective cost adaptive control to command following in the presence of multi‐variable convex input saturation constraints. To account for the saturation constraint, the authors use convex optimisation to minimise the quadratic retrospective cost function. The use of convex optimisation bounds the magnitude of the retrospectively optimised input and thereby influences the controller update to satisfy the control bounds. This technique is applied to a multi‐rotor helicopter with constraints on the total thrust magnitude and inclination of the rotor plane.