Adaptive Control for Systems with Output Constraints Using an Online Optimization Method

作者：Che Jiaxing; Santone Michael; Cao Chengyu^*

来源：Journal of Optimization Theory and Applications, 2015, 165(2): 480-506.

DOI：10.1007/s10957-014-0615-6

• Adaptive control
• Output constraints
• Online optimization
• Non-linear time-varying matched uncertainties
• L1 adaptive controller

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.

• 出版日期2015-5