Adaptive control for nonlinear uncertain systems with actuator amplitude and rate saturation constraints

被引：68
|
作者：
Leonessa, Alexander [1 ]
Haddad, Wassim M. [2 ]
Hayakawa, Tomohisa [3 ,4 ]
Morel, Yannick [1 ]
机构：
[1] Virginia Polytech Inst & State Univ, Dept Mech Engn, Blacksburg, VA 24061 USA
[2] Georgia Inst Technol, Sch Aerosp Engn, Atlanta, GA 30332 USA
[3] Tokyo Inst Technol, Dept Mech, Tokyo 1528552, Japan
[4] Tokyo Inst Technol, Environm Informat Dept, Tokyo 1528552, Japan
来源：
INTERNATIONAL JOURNAL OF ADAPTIVE CONTROL AND SIGNAL PROCESSING | 2009年 / 23卷 / 01期
关键词：
adaptive nonlinear control; adaptive tracking; nonlinear uncertain systems; actuator nonlinearities; amplitude saturation; rate saturation; POSITIVE MU-MODIFICATION; INPUT CONSTRAINTS; STABLE ADAPTATION; EXOGENOUS DISTURBANCES; DESIGN;
D O I：
10.1002/acs.1065
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
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 (C) 2008 John Wiley & Sons, Ltd.
引用
收藏
页码：73 / 96
页数：24
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