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Description:
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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 . |