Title :
Continuous direct adaptive control with saturation input constraint
Author :
Zhang, Cishen ; Evans, Robin J.
Author_Institution :
Dept. of Electr. & Electron. Eng., Melbourne Univ., Parkville, Vic., Australia
fDate :
8/1/1994 12:00:00 AM
Abstract :
This note establishes global boundedness and control tracking properties of a continuous-time direct adaptive controller subject to an input saturation constraint. Under a finite gain stability condition on a nonadaptive controller using the true plant parameters, global stability of the adaptive version of the controller is established. It is also shown that the adaptive controller can account for modeling uncertainties and limited disturbances, hence providing a certain degree of robustness
Keywords :
adaptive control; stability; continuous direct adaptive control; control tracking properties; finite gain stability condition; global boundedness; global stability; modeling uncertainties; nonadaptive controller; robustness; saturation input constraint; Adaptive control; Control systems; Least squares approximation; Polynomials; Programmable control; Robust control; Size control; Stability analysis; Uncertainty; Upper bound;
Journal_Title :
Automatic Control, IEEE Transactions on
