On Adaptive Control of Uncertain Dynamical Systems in the Presence of Actuator Dynamics and Amplitude Saturation Limits

Benjamin Gruenwald1, Tansel Yucelen1, Kadriye Merve Dogan2, Jonathan Muse3

  • 1University of South Florida
  • 2UNIVERSITY OF SOUTH FLORIDA
  • 3Wright Patterson Air Force Base

Details

10:40 - 11:00 | Wed 10 Jul | Room 403 | WeA12.3

Session: Adaptive Control

Abstract

In this paper, we propose a model reference adaptive control approach for uncertain dynamical systems in the presence of both actuator dynamics and actuator amplitude saturation limits. Specifically, we use a new expanded reference model including a deficit term between the ideal control signal and its saturated version. Closed-loop system stability of the proposed approach utilizing this expanded reference model is analyzed using linear matrix inequalities (LMIs) and Lyapunov theory, where the resulting stability conditions capture the interplay between the allowable actuator dynamics, actuator amplitude saturation limits, initial conditions, and the system uncertainties. An illustrative numerical example is further provided to demonstrate the efficacy of the proposed approach.