Adaptive tracking for nonlinear systems with control constraints

Author

Leonessa, Alexander ; Haddad, Wassim M. ; Hayakawa, Tomohisa

Author_Institution

tDepartment of Ocean Eng., Florida Atlantic Univ., Dania Beach, FL, USA

Volume

2

fYear

2001

fDate

2001

Firstpage

1292

Abstract

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 adaptive control signal to a given reference system is modified to effectively robustify the error dynamics to the saturation constraints. An illustrative numerical example is provided to demonstrate the efficacy of the propose approach

Keywords

adaptive control; asymptotic stability; closed loop systems; multivariable control systems; nonlinear control systems; tracking; actuator amplitude; adaptive control signal; asymptotic stability; closed-loop tracking error dynamics; control constraints; direct adaptive nonlinear tracking control framework; error dynamics; multivariable nonlinear uncertain systems; rate saturation constraints; saturation constraints; Actuators; Adaptive control; Asymptotic stability; Control systems; Error correction; Nonlinear control systems; Nonlinear dynamical systems; Nonlinear systems; Programmable control; Uncertain systems;

fLanguage

English

Publisher

ieee

Conference_Titel

American Control Conference, 2001. Proceedings of the 2001

Conference_Location

Arlington, VA

ISSN

0743-1619

Print_ISBN

0-7803-6495-3

Type

conf

DOI

10.1109/ACC.2001.945901

Filename

945901