Regular Papers

International Journal of Control, Automation and Systems 2012; 10(5): 890-896

Published online September 30, 2012

https://doi.org/10.1007/s12555-012-0504-4

© The International Journal of Control, Automation, and Systems

Adaptive Control for Input-Constrained Linear Systems

Bong Seok Park, Jae Young Lee, Jin Bae Park*, and Yoon Ho Choi

Yonsei University

Abstract

This paper proposes a direct model reference adaptive control method for linear systems with unknown parameters in the presence of input constraints. First, we used the well-known linear quadratic regulator (LQR) technique to develop a modified reference model, which is the optimal model under input constraints. Second, a model reference adaptive controller, which tracked the mod-ified reference model instead of the reference model, was designed to compensate for parametric un-certainties. Using Lyapunov stability theory, we proved that the modified reference model tracking er-ror converges to zero. Simulation results demonstrate the effectiveness of the proposed controller.

Keywords Adaptive control, input constraints, linear-quadratic regulator, optimal control.

Article

Regular Papers

International Journal of Control, Automation and Systems 2012; 10(5): 890-896

Published online October 1, 2012 https://doi.org/10.1007/s12555-012-0504-4

Copyright © The International Journal of Control, Automation, and Systems.

Adaptive Control for Input-Constrained Linear Systems

Bong Seok Park, Jae Young Lee, Jin Bae Park*, and Yoon Ho Choi

Yonsei University

Abstract

This paper proposes a direct model reference adaptive control method for linear systems with unknown parameters in the presence of input constraints. First, we used the well-known linear quadratic regulator (LQR) technique to develop a modified reference model, which is the optimal model under input constraints. Second, a model reference adaptive controller, which tracked the mod-ified reference model instead of the reference model, was designed to compensate for parametric un-certainties. Using Lyapunov stability theory, we proved that the modified reference model tracking er-ror converges to zero. Simulation results demonstrate the effectiveness of the proposed controller.

Keywords: Adaptive control, input constraints, linear-quadratic regulator, optimal control.

IJCAS
May 2024

Vol. 22, No. 5, pp. 1461~1759

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