Adaptive control with a nested saturation reference model

Suresh K. Kannan, Eric N. Johnson

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

7 Scopus citations

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
Publication statusPublished - Dec 1 2003
EventAIAA Guidance, Navigation, and Control Conference and Exhibit 2003 - Austin, TX, United States
Duration: Aug 11 2003Aug 14 2003

Publication series

NameAIAA Guidance, Navigation, and Control Conference and Exhibit

Other

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

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All Science Journal Classification (ASJC) codes

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

Cite this

Kannan, S. K., & Johnson, E. N. (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).