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Adaptive Control With Convex and Saturation Constraints

[+] Author Affiliations
Jin Yan, Dennis S. Bernstein

University of Michigan, Ann Arbor, MI

Davi Antônio dos Santos

Instituto Tecnolõgico de Aeronáutica, São José dos Campos, SP, Brazil

Paper No. DSCC2013-3877, pp. V001T02A002; 10 pages
  • ASME 2013 Dynamic Systems and Control Conference
  • Volume 1: Aerial Vehicles; Aerospace Control; Alternative Energy; Automotive Control Systems; Battery Systems; Beams and Flexible Structures; Biologically-Inspired Control and its Applications; Bio-Medical and Bio-Mechanical Systems; Biomedical Robots and Rehab; Bipeds and Locomotion; Control Design Methods for Adv. Powertrain Systems and Components; Control of Adv. Combustion Engines, Building Energy Systems, Mechanical Systems; Control, Monitoring, and Energy Harvesting of Vibratory Systems
  • Palo Alto, California, USA, October 21–23, 2013
  • Conference Sponsors: Dynamic Systems and Control Division
  • ISBN: 978-0-7918-5612-3
  • Copyright © 2013 by ASME


This paper applies retrospective cost adaptive control (RCAC) to command following in the presence of multivariable convex input saturation constraints. To account for the saturation constraint, we use convex optimization to minimize the quadratic retrospective cost function. The use of convex optimization bounds the magnitude of the retrospectively optimized input and thereby influences the controller update to satisfy the control bounds. This technique is applied to a tiltrotor with constraints on the total thrust magnitude and inclination of the rotor plane.

Copyright © 2013 by ASME



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