Constrained Adaptive Control with Transient and Steady-State Performance Guarantees
Over the last decades research has been performed in order to improve the transient behavior of adaptive systems. To that end, this paper develops a new adaptive control architecture for uncertain dynamical systems to achieve guaranteed transient performance in the presence of state constraints. For this purpose, we extended a recently developed command governor method. Specifically, the command governor is a dynamical system adjusting the trajectory of a given command in order to follow an ideal reference system in transient time, where this system captures a desired closed-loop dynamical system behavior specified by a control engineer. Our extension enables this method to handle state constraints in the range space of the control input matrix. Alternative approaches for enforcing state constraints outside of the range space are further discussed. Finally, these methods are illustrated for the lateral and the longitudinal motion of an aircraft.