Title :
Direct adaptive control subject to input amplitude constraint
Author :
Chaoui, F.Z. ; Giri, F. ; Dion, J.M. ; M-Saad, M. ; Dugard, L.
Author_Institution :
Lab. d´´Autom. de Grenoble, ENSIEG, St.-Martin-d´´Heres, France
fDate :
3/1/2000 12:00:00 AM
Abstract :
This paper deals with the problem of controlling discrete-time linear systems with unknown dynamics and a saturation-type constraint on the control input amplitude. We propose a direct adaptive regulator that globally stabilizes any system with one pole at x=1 and all others inside the unit disk. The regulator design is carried out using the pole placement technique. Of particular interest, the input saturation vanishes after a finite transient period
Keywords :
adaptive control; discrete time systems; linear systems; pole assignment; stability; direct adaptive control; discrete-time systems; global stabilization; input constraint; linear systems; pole placement; saturation-type constraint; Adaptive control; Automatic control; Control systems; Error correction; Motion control; Robotics and automation; Robustness; Sampling methods; Sliding mode control; Stability;
Journal_Title :
Automatic Control, IEEE Transactions on
