Adaptive Control for Nonlinear Uncertain Systems with Actuator Amplitude and Rate Saturation Constraints

Adaptive Control for Nonlinear Uncertain Systems with Actuator Amplitude and Rate Saturation Constraints

A direct adaptive nonlinear tracking control framework for multivariable nonlinear uncertain systems with actuator amplitude and rate saturation constraints is developed. To guarantee asymptotic stability of the closed-loop tracking error dynamics in the face of amplitude and rate saturation constraints, the adaptive control signal to a given reference (governor or supervisor) system is modified to effectively ro- bustify the error dynamics to the saturation constraints. An illustrative numerical example is provided to demonstrate the efficacy of the proposed approach.