STRUCTURED ADAPTIVE MODEL INVERSION CONTROL TO SIMULTANEOUSLY HANDLE ACTUATOR FAILURE AND ACTUATOR SATURATION

Traditional adaptive control lacks rigorous theoretical treatment for control in the presence of actuator saturation. Generally, adaptation is stopped as soon as the control saturates to avoid incorrect adaptation. Adaptation in the presence of saturation may be critical, especially when the controller is recovering from a failure. This paper presents an Adaptive Control methodology that facilitates correct adaptation in the presence of actuation saturation limits. The central idea is to modify the reference trajectory on saturation, in such a way that the modified trajectory approximates the original reference as close as possible, and can be tracked within saturation limits. Nonlinear six degree of freedom simulations of an F-16 type aircraft are shown to demonstrate this control scheme.