Adaptive control with convex saturation constraints

Abstract

This paper applies retrospective cost adaptive control (RCAC) to command following in the presence of multivariable convex input saturation constraints. To account for the satu-ration constraint, we use convex optimization to minimize the quadratic retrospective cost function. The use of convex opti-mization bounds the magnitude of the retrospectively optimized input and thereby influences the controller update to satisfy the control bounds. This technique is applied to a tiltrotor with con-straints on the total thrust magnitude and inclination of the rotor plan. Copyright © 2013 by ASME.