Adaptive output feedback control with input saturation

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Date
2003-06Author
Yang, Bong-Jun
Calise, Anthony J.
Craig, James I.
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Show full item recordAbstract
We consider the problem of adaptive output feedback
control in the presence of saturating input characteristic.
The adaptive control architecture augments an existing
linear control design. The approach is applicable
to non-affine, nonlinear systems with both parametric
uncertainty and unmodeled dynamics subject to input
saturation. Boundedness of signals is shown through
Lyapunov's direct method. Experimental results with
a 3-disk torsional pendulum are presented to demonstrate
the approach.