Constrained dynamical systems, robust model reference adaptive control, and unreliable reference signals. Issue 5 (3rd May 2020)

• Record Type: Journal Article
• Authors: L'Afflitto, Andrea; Blackford, Timothy A.
• Is Part Of: International journal of control. Volume 93:Issue 5(2020)
• Page Start: 1039
• Page End: 1052
• Publication Date: 2020-05-03
• Subjects: Barrier Lyapunov functions -- constraints on the state space -- model reference adaptive control -- e-modification -- projection operator; Automatic control -- Periodicals; Electronic journals; 629.8
• DOI: 10.1080/00207179.2018.1489147
• Languages: English
• ISSNs: 0020-7179

Abstract

ABSTRACT: In this paper, we address the robust control design problem for nonlinear dynamical systems tracking unreliable reference signals. Specifically, we present robust model reference adaptive control laws that guarantee uniform ultimate boundedness of the trajectory tracking error for nonlinear plants that are affected by matched, unmatched, and parametric uncertainties, and are subject to constraints on the state space and the measured output. These control laws guarantee satisfactory results even in case the reference trajectory or the reference output signal do not verify the given constraints and hence, may draw the plant's trajectory or measured output outside their constraint sets. A numerical example involving the attitude control of a spacecraft illustrates the feasibility of the theoretical results presented.