Asymptotic adaptive tracking with input amplitude and rate constraints and bounded disturbances

Sze Yong; Emilio Frazzoli

doi:10.1109/CDC.2014.7039554

Asymptotic adaptive tracking with input amplitude and rate constraints and bounded disturbances

Sze Yong
, Emilio Frazzoli

Research output: Contribution to journal › Conference article › peer-review

2 Scopus citations

Abstract

In this paper, we develop a direct model reference adaptive control framework for asymptotic adaptive tracking in the presence of actuator input amplitude and rate constraints for some classes of uncertain linear time-invariant systems and nonlinear systems. This framework also allows for rejection of bounded time-varying disturbances, without causing any chatter in the control input. Moreover, positive (ρ; μ)-modification is proposed to protect the control law from the actuator saturation limits. The design is model-based and ensures global asymptotic tracking for open-loop input-to-state stable systems, while an estimate of the domain of attraction is derived for local asymptotic tracking in the case of input-to-state unstable systems. The approach is illustrated with examples.

Original language	English (US)
Article number	7039554
Pages (from-to)	1256-1263
Number of pages	8
Journal	Proceedings of the IEEE Conference on Decision and Control
Volume	2015-February
Issue number	February
DOIs	https://doi.org/10.1109/CDC.2014.7039554
State	Published - Jan 1 2014
Externally published	Yes
Event	2014 53rd IEEE Annual Conference on Decision and Control, CDC 2014 - Los Angeles, United States Duration: Dec 15 2014 → Dec 17 2014

ASJC Scopus subject areas

Control and Systems Engineering
Modeling and Simulation
Control and Optimization

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10.1109/CDC.2014.7039554

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abstract = "In this paper, we develop a direct model reference adaptive control framework for asymptotic adaptive tracking in the presence of actuator input amplitude and rate constraints for some classes of uncertain linear time-invariant systems and nonlinear systems. This framework also allows for rejection of bounded time-varying disturbances, without causing any chatter in the control input. Moreover, positive (ρ; μ)-modification is proposed to protect the control law from the actuator saturation limits. The design is model-based and ensures global asymptotic tracking for open-loop input-to-state stable systems, while an estimate of the domain of attraction is derived for local asymptotic tracking in the case of input-to-state unstable systems. The approach is illustrated with examples.",

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AU - Frazzoli, Emilio

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AB - In this paper, we develop a direct model reference adaptive control framework for asymptotic adaptive tracking in the presence of actuator input amplitude and rate constraints for some classes of uncertain linear time-invariant systems and nonlinear systems. This framework also allows for rejection of bounded time-varying disturbances, without causing any chatter in the control input. Moreover, positive (ρ; μ)-modification is proposed to protect the control law from the actuator saturation limits. The design is model-based and ensures global asymptotic tracking for open-loop input-to-state stable systems, while an estimate of the domain of attraction is derived for local asymptotic tracking in the case of input-to-state unstable systems. The approach is illustrated with examples.

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T2 - 2014 53rd IEEE Annual Conference on Decision and Control, CDC 2014

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ER -

Asymptotic adaptive tracking with input amplitude and rate constraints and bounded disturbances

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