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

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

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 (governor or supervisor) system is modifie...

Control of Systems with Actuator Amplitude and Rate Constraints

Robust adaptive neural network control for a class of uncertain nonlinear systems with actuator amplitude and rate saturations

An adaptive controller which is designed with a priori consideration of actuator saturation effects and guarantees H1 tracking performance for a class of multiple-input–multiple-output (MIMO) uncertain nonlinear systems with extern disturbances and actuator saturations is presented in this paper. Adaptive radial basis function (RBF) neural networks are used in this controller to approximate the...

Model predictive control with amplitude and rate actuator saturation.

In this work we show that the anti-wind-up-bumpless-transfer controller emerges from the structure of model predictive control (MPC) with quadratic objective and input constrains. The key to establish that relationship is the application of optimality conditions to the equivalent optimal control problem. The proposed framework employs a model of physical constraints as part of the controller ar...

Actuator amplitude saturation control for systems with exogenous disturbances

In this paper we develop fixed-order (i.e., fulland reduced-order) controllers for systems with actuator amplitude constraints and exogenous bounded energy LZ disturbances. The actuator amplitude saturation and disturbance rejection constraints are embedded within an optimization problem by constructing a Riccati equation whose solution guarantees closed-loop global asymptotic stability in the ...