Model reference adaptive control with a constrained linear reference model

Suresh K. Kannan, Eric N. Johnson

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

9 Scopus citations

Abstract

For systems with limited control authority and a control design that does not prevent saturation from occurring, using a linear reference model can introduce problems, especially when the external command is not necessarily conditioned to respect the capabilities of the plant. An example of this is commanding a large step command that cannot really be achieved linearly by the plant due to limited control authority. Linear reference models will attempt to elicit a linear response in the plant when no such response is possible (peaking). Although providing a realistic command that can be tracked is the job of the planner or trajectory generator, it is desirable if unrealistic commands can be handled at the reference model by shaping its own response trajectory in a way that prevents premature saturation of control signals. This paper introduces reference models that are linear locally but limit their internal dynamics using saturation functions as a part of its dynamics.

Original languageEnglish (US)
Title of host publication2010 49th IEEE Conference on Decision and Control, CDC 2010
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages48-53
Number of pages6
ISBN (Print)9781424477456
DOIs
StatePublished - 2010
Event49th IEEE Conference on Decision and Control, CDC 2010 - Atlanta, United States
Duration: Dec 15 2010Dec 17 2010

Publication series

NameProceedings of the IEEE Conference on Decision and Control
ISSN (Print)0191-2216

Conference

Conference49th IEEE Conference on Decision and Control, CDC 2010
Country/TerritoryUnited States
CityAtlanta
Period12/15/1012/17/10

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Modeling and Simulation
  • Control and Optimization

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