Adaptive control with a nested saturation reference model

Suresh K. Kannan, Eric Johnson

Research output: Chapter in Book/Report/Conference proceedingConference contribution

7 Citations (Scopus)

Abstract

This paper introduces a neural network based model reference adaptive control architecture that allows adaptation in the presence of saturation. The given plant is approximately feedback linearized, with adaptation used to cancel any matched uncertainty. A nested saturation based reference model is used. This law allows the incorporation of magnitude actuator saturation and has useful small gain properties. Depending on the bandwidth and saturation limits, the reference model based on this law eases off on the aggressiveness of the desired trajectory thus avoiding saturation. However, actuator saturation might yet occur due to uncertainty or external disturbances. In order to protect the adaptive element from such plant input characteristics, the nested saturation reference model is augmented with a pseduo-control hedging signal that removes these characteristics from the adaptive element's training signal.

Original languageEnglish (US)
Title of host publicationAIAA Guidance, Navigation, and Control Conference and Exhibit
StatePublished - Dec 1 2003
EventAIAA Guidance, Navigation, and Control Conference and Exhibit 2003 - Austin, TX, United States
Duration: Aug 11 2003Aug 14 2003

Other

OtherAIAA Guidance, Navigation, and Control Conference and Exhibit 2003
CountryUnited States
CityAustin, TX
Period8/11/038/14/03

Fingerprint

Actuators
Model reference adaptive control
Trajectories
Neural networks
Feedback
Bandwidth
Uncertainty

All Science Journal Classification (ASJC) codes

  • Aerospace Engineering
  • Control and Systems Engineering
  • Electrical and Electronic Engineering

Cite this

Kannan, S. K., & Johnson, E. (2003). Adaptive control with a nested saturation reference model. In AIAA Guidance, Navigation, and Control Conference and Exhibit
Kannan, Suresh K. ; Johnson, Eric. / Adaptive control with a nested saturation reference model. AIAA Guidance, Navigation, and Control Conference and Exhibit. 2003.
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Kannan, SK & Johnson, E 2003, Adaptive control with a nested saturation reference model. in AIAA Guidance, Navigation, and Control Conference and Exhibit. AIAA Guidance, Navigation, and Control Conference and Exhibit 2003, Austin, TX, United States, 8/11/03.

Adaptive control with a nested saturation reference model. / Kannan, Suresh K.; Johnson, Eric.

AIAA Guidance, Navigation, and Control Conference and Exhibit. 2003.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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Kannan SK, Johnson E. Adaptive control with a nested saturation reference model. In AIAA Guidance, Navigation, and Control Conference and Exhibit. 2003