Adaptive dynamic inversion of nonlinear systems subjected to control saturation constraints

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Title: Adaptive dynamic inversion of nonlinear systems subjected to control saturation constraints
Author: Tandale, Monish Deepak
Abstract: The adaptive dynamic inversion control methodology uses dynamic inversion to calculate the control , and adaptation to compensate for the errors in the inversion due to model uncertainties . Traditionally , adaptive control assumes full authority control and lacks an adequate theoretical treatment for control in the presence of actuator saturation limits . The objective of this research is to investigate the problems introduced in the adaptive dynamic inversion control scheme due to bounds on the control , and design control strategies to overcome these problems . The unique contribution of this research is that it identifies the maximum possible domain of attraction considering the control position limit , and uses a switching control strategy to contain the plant within the maximum possible domain of attraction . Another novel idea is that of a direction consistent control constraint mechanism which maintains the resultant direction of the rate of change of state the same as that of the desired , even in the presence of control saturation . This research uses a modified adaptation mechanism to prevent incorrect adaptation arising from trajectory errors due to control saturation . Mathematical development of the control laws and the adaptation mechanisms is presented along with rigorous proofs for convergence of the tracking error and stability of the overall control scheme . Finally , numerical simulation results are presented to validate the control methodology .
URI: http : / /hdl .handle .net /1969 .1 /5994
Date: 2007-09-17

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Adaptive dynamic inversion of nonlinear systems subjected to control saturation constraints. Available electronically from http : / /hdl .handle .net /1969 .1 /5994 .

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