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.
Adaptive Dynamic Control of Nonlinear Systems With Actuator Amplitude and Rate Saturation Constraints
Leonessa, A, Haddad, WM, Hayakawa, T, & Morel, Y. "Adaptive Dynamic Control of Nonlinear Systems With Actuator Amplitude and Rate Saturation Constraints." Proceedings of the ASME 2007 International Mechanical Engineering Congress and Exposition. Volume 9: Mechanical Systems and Control, Parts A, B, and C. Seattle, Washington, USA. November 11–15, 2007. pp. 1431-1438. ASME. https://doi.org/10.1115/IMECE2007-43487
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