Adaptive dynamic control of nonlinear systems with actuator amplitude and rate saturation constraints

被引：0
|
作者：
Leonessa, Alexander [1 ]
Haddad, Wassim M. [1 ]
Hayakawa, Tomohisa [1 ]
Morel, Yannick [1 ]
机构：
[1] Univ Cent Florida, Dept Mech Mat & Aerosp Engn, Orlando, FL 32816 USA
来源：
PROCEEDINGS OF THE ASME INTERNATIONAL MECHANICAL ENGINERING CONGRESS AND EXPOSITION 2007, VOL 9, PTS A-C: MECHANICAL SYSTEMS AND CONTROL | 2008年
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D O I：
暂无
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. An illustrative numerical example is provided to demonstrate the efficacy of the proposed approach.
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页码：1431 / 1438
页数：8
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