Article ID | Journal | Published Year | Pages | File Type |
---|---|---|---|---|
756659 | Systems & Control Letters | 2007 | 8 Pages |
Abstract
For a class of linear dynamical systems with unknown parameters a direct model reference adaptive control framework is developed that provides stable adaptation in the presence of input constraints. The proposed design methodology, termed “positive μμ-modification”, has the ability to protect the control law from actuator position saturation. The reference system is adaptively modified to ensure global asymptotic tracking for open-loop stable systems. For unstable systems an estimate for the domain of attraction is derived based on the input saturation magnitude and system parameters. Simulation of a benchmark example verifies the theoretical statements.
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Physical Sciences and Engineering
Engineering
Control and Systems Engineering
Authors
Eugene Lavretsky, Naira Hovakimyan,