DocumentCode :
3551049
Title :
Positive μ-modification for stable adaptation in dynamic inversion based adaptive control with input saturation
Author :
Lavretsky, Eugene ; Hovakimyan, Naira
Author_Institution :
Phantom Works, Boeing Co., Huntington Beach, CA, USA
fYear :
2005
fDate :
8-10 June 2005
Firstpage :
3373
Abstract :
For a class of uncertain nonlinear dynamical systems in Brunovsky form a dynamic inversion (DI) based adaptive control framework is developed that provides stable adaptation in the presence of input constraints. The proposed design methodology, termed "positive μ-modification", protects the control law from actuator position saturation. Moreover, the design is Lyapunov based and ensures bounded tracking for initial conditions within the domain of attraction. An estimate of the latter is derived based on the input saturation magnitude and system parameters. Simulation of a benchmark example verifies the theoretical statements.
Keywords :
actuators; adaptive control; design engineering; nonlinear dynamical systems; position control; Lyapunov based; actuator position saturation; bounded tracking; dynamic inversion based adaptive control; input saturation; nonlinear dynamical systems; positive μ-modification; Actuators; Adaptive control; Aerodynamics; Aerospace materials; Design methodology; Nonlinear dynamical systems; Nonlinear systems; Programmable control; Proportional control; Protection;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
American Control Conference, 2005. Proceedings of the 2005
ISSN :
0743-1619
Print_ISBN :
0-7803-9098-9
Electronic_ISBN :
0743-1619
Type :
conf
DOI :
10.1109/ACC.2005.1470492
Filename :
1470492
Link To Document :
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