Name
Title | ||
|---|---|---|
Adaptive control with guaranteed contraction rate for systems with actuator saturation |
Abstract | ||
|---|---|---|
The problem of adaptive control of linear discrete-time systems with actuator saturation and unknown parameters is investigated. A novel optimal control method is presented first for linear systems with known parameters and constant actuator saturation by introducing a Lyapunov function and a performance cost function that are both dependent on a contraction rate parameter. Based on the obtained guaranteed contraction-rate control method, an adaptive control algorithm is derived for systems containing unknown system parameters and time-varying actuator saturation. To show that the closed-loop system is stable and that the adaptive control algorithm is convergent, the Lyapunov function is supplemented by an additional part defined by the trace of a quadratic function of the controller gain. The effectiveness and potential of the presented method is demonstrated by a numerical example. © Springer Science+Business Media, LLC 2011. |
Year | DOI | Venue |
|---|---|---|
2012 | 10.1007/s00034-011-9386-6 | CSSP |
Keywords | Field | DocType |
Adaptive control, Contraction-rate control, Actuator saturation, Parameter uncertainty | Lyapunov function,Mathematical optimization,Plant,Control theory,Optimal control,Linear system,Control theory,Quadratic function,Adaptive control,Mathematics,Actuator saturation | Journal |
Volume | Issue | ISSN |
31 | 4 | 15315878 |
Citations | PageRank | References |
0 | 0.34 | 6 |
Authors | ||
2 | ||