Constrained control using error governors with online parameter estimation

We propose to augment adaptive controllers with error governors in order to handle input constrained systems with unknown plant parameters. The error governor scaling parameter is accordingly adjusted online and used to modify the adaptive law which updates the parameters of the controller in the loop. A specific application example is described using a flight control scenario which includes an error governor augmented to a composite adaptive control design. Simulation results are provided and demonstrate that the estimates of the unknown parameters converge to their real values, the aircraft performance is improved, and the input constraints are necessarily satisfied.