Adaptive control design for MIMO dynamics with input constraints

The model reference adaptive control of a linear time-invariant multi-input multi-output system under the actuator position saturation is examined to develop a framework with smooth transient performance and fast convergence. The design exploits an Observer-like structure to avoid transient oscillations caused by great adaptation rates due to fast tracking. Additionally to eliminate the effects of the input constraints, a method to make the error of adaptive control and actual control tend to zero is also been employed for the purpose. A proof of the stability has been provided by Lyapunov analysis and advantages of the design has been shown through simulations applied to a linearized lateral aircraft dynamics.