Model Reference Adaptive Control Allocation for Constrained Systems with Guaranteed Closed Loop Stability

TL;DR

This paper introduces a novel adaptive control allocation method for uncertain over-actuated systems with actuator saturation, ensuring closed-loop stability without requiring uncertainty estimation or persistent excitation.

Contribution

It presents a new adaptive control allocation approach combined with a sliding mode controller that guarantees stability and reference tracking despite uncertainties and actuator constraints.

Findings

Effective control allocation in over-actuated systems demonstrated via simulations

Guarantees closed-loop stability without uncertainty estimation

Handles actuator saturation and disturbances successfully

Abstract

This paper proposes an adaptive control allocation approach for uncertain over-actuated systems with actuator saturation. The proposed method does not require uncertainty estimation or a persistent excitation assumption. Using the element-wise non-symmetric projection algorithm, the adaptive parameters are restricted to satisfy certain optimality conditions leading to overall closed loop system stability. Furthermore, a sliding mode controller with a time-varying sliding surface, working in tandem with the adaptive control allocation, is proposed to guarantee the outer loop stability and reference tracking in the presence of control allocation errors and disturbances. Simulation results are provided, where the Aerodata Model in Research Environment is used as an over-actuated system with actuator saturation, to demonstrate the effectiveness of the proposed method.