Adaptive control of systems with input saturation: a scheme using output derivatives of order up to relative degree

  • Authors:

  • Natsuki Takagi;Masahiro Oya;Qiang Wang;Toshihiro Kobayashi

  • Affiliations:

  • Department of Mechanical and Control Engineering, Kyushu Institute of Technology, Kitakyushu, Fukuoka, Japan;Department of Mechanical and Control Engineering, Kyushu Institute of Technology, Kitakyushu, Fukuoka, Japan;Department of Systems Design and Informatics, Kyushu Institute of Technology, Iizuka, Fukuoka, Japan;Department of Mechanical and Control Engineering, Kyushu Institute of Technology, Kitakyushu, Fukuoka, Japan

  • Venue:
  • CIRA'09 Proceedings of the 8th IEEE international conference on Computational intelligence in robotics and automation
  • Year:
  • 2009

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Abstract

In this paper, the main attention is focused on transient property of control input signal, we propose a novel adaptive controller for time-continuous single-input singleoutput linear systems with an input saturation in which i-th derivatives of the output signal (i = 1,..., relative degree) are available. To improve the control performance, a novel estimator using an observer for the tracking error signals is proposed. Using the estimator, it is shown theoretically that the tracking error between the controlled object output and the reference model output can converge to zero when the initial value of the tracking error satisfies a condition.