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Indirect Adaptive Optimal Control in the Presence of Input Saturation
- Publication Year :
- 2023
-
Abstract
- In this paper, we propose a combined Magnitude Saturated Adaptive Control (MSAC)-Model Predictive Control (MPC) approach to linear quadratic tracking optimal control problems with parametric uncertainties and input saturation. The proposed MSAC-MPC approach first focuses on a stable solution and parameter estimation, and switches to MPC when parameter learning is accomplished. We show that the MSAC, based on a high-order tuner, leads to parameter convergence to true values while providing stability guarantees. We also show that after switching to MPC, the optimality gap is well-defined and proportional to the parameter estimation error. We demonstrate the effectiveness of the proposed MSAC-MPC algorithm through a numerical example based on a linear second-order, two input, unstable system.
Details
- Language :
- English
- Database :
- OpenAIRE
- Accession number :
- edsair.doi.dedup.....b4d25363a4a842fa3213fe3d674887f5