This paper applies retrospective cost adaptive control (RCAC) to command following in the presence of multivariable convex input saturation constraints. To account for the saturation constraint, we use convex optimization to minimize the quadratic retrospective cost function. The use of convex optimization bounds the magnitude of the retrospectively optimized input and thereby influences the controller update to satisfy the control bounds. This technique is applied to a tiltrotor with constraints on the total thrust magnitude and inclination of the rotor plane.

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