Abstract
In this paper, a new controller framework incorporating an L1 adaptive control and an online optimization scheme is presented. This framework provides a method for maintaining output constraints in the presence of non-linear time-varying matched uncertainties by predicting future output trajectories within a finite time horizon. The stability conditions of the system are derived, and the prediction error is characterized. The online optimization is formulated into a linear program problem for which many efficient algorithms exist. Simulation results demonstrate the effectiveness of the controller framework.
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Acknowledgments
The authors thank the referees for careful reading of the manuscript and insightful comments, which helped to improved the quality of the paper. We also acknowledge the support by NASA contract and NSF Award IIS 1208499.
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Communicated by Josef Shinar.
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Che, J., Santone, M. & Cao, C. Adaptive Control for Systems with Output Constraints Using an Online Optimization Method. J Optim Theory Appl 165, 480–506 (2015). https://doi.org/10.1007/s10957-014-0615-6
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DOI: https://doi.org/10.1007/s10957-014-0615-6
Keywords
- Adaptive control
- Output constraints
- Online optimization
- Non-linear time-varying matched uncertainties
- L1 adaptive controller