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Adaptive Control of Nonlinear System Under Input Constraints Combined with Prediction-Error Estimation for Uncertainty

An adaptive control scheme, combined with prediction-error estimation for uncertainty, is proposed in this paper for uncertain nonlinear systems that are subject to input actuator constraints, including the amplitude and rate saturation. Together with the conventional tracking-error estimation, the prediction-error estimation is used to enhance the estimation of uncertainties in the system, and bring additional stabilizing properties for parameter estimation error, which is absent in conventional adaptive control. An auxiliary dynamics driven by the actuator saturation error is constructed to form an augmented tracking error, which is used in the adaptive law to guarantee the stability of the closed-loop system under actuator saturations. Model uncertainties, such as unknown parameters and disturbance, including the unknown control input gain, are considered in the system. Stability analysis and simulation examples on wing rock in delta-wing aircraft are provided in this study.