Disturbance accommodating controller for uncertain stochastic systems with controller saturation

Jemin George, Puneet Singla, John L. Crassidis

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

Abstract

Observer based stochastic disturbance accommodating control scheme utilizes an estimator to determine the necessary corrections to the nominal control input and thus minimizes the adverse effects of both model uncertainties and external disturbances on the controlled system. The total control input, which includes the nominal control as well as the control corrections to the nominal control to accommodate for the disturbances, could exceed the actuator saturation limits. The saturation of the disturbance accommodating control system is more violent than that of the nominal control system because of the positive feedback of the disturbance compensation. This paper presents the formulation of the stochastic disturbance accommodating controller with actuator saturation for a class of uncertain linear stochastic systems. A Lyapunov based stochastic adaptive approach is used to update the control gains and the process noise covariance online so that the closed-loop stability of the controlled system is guaranteed.

Original languageEnglish (US)
Title of host publicationAIAA Guidance, Navigation, and Control Conference and Exhibit
PublisherAmerican Institute of Aeronautics and Astronautics Inc.
ISBN (Print)9781563479786
DOIs
StatePublished - 2009

Publication series

NameAIAA Guidance, Navigation, and Control Conference and Exhibit

All Science Journal Classification (ASJC) codes

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

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