On-Line Approximation Control of Uncertain Nonlinear Systems: Issues With Control Input Saturation

Abstract

Various types and techniques of on-line approximation have been used in feedback control of uncertain nonlinear systems. In many practical applications, saturation of the control input influences significantly the performance of adaptive and learning control systems. This article addresses the issue of control input saturation in on-line approximation based control of nonlinear systems. A modified control design framework is presented for preventing the presence of input saturation from destroying the learning capabilities and memory of an on-line approximator in feedback control systems. The stability properties of the proposed feedback control law are obtained via Lyapunov analysis. Particular emphasis is given to aircraft longitudinal control, which extends the results to the backstepping feedback control procedure.

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Document Details

Document Type
Technical Report
Publication Date
Jan 01, 2005
Accession Number
ADA436259

Entities

People

  • Jay A Farrell
  • Manu Sharma
  • Marios Polycarpou

Organizations

  • University of Cincinnati

Tags

Communities of Interest

  • Air Platforms

DTIC Thesaurus Topics

  • Actuators
  • Aircraft Models
  • Aircrafts
  • Closed Loop Systems
  • Control Surfaces
  • Control Systems
  • Dynamics
  • Electrical Engineering
  • Equations
  • Feedback
  • Flight Paths
  • Identification
  • Learning
  • Lyapunov Functions
  • Nonlinear Systems
  • Saturation
  • Vehicles

Fields of Study

  • Physics

Readers

  • Calculus or Mathematical Analysis
  • Control Systems Engineering.
  • Robotics and Automation.