ABSTRACT
This chapter focuses on model reference adaptive control of dynamical systems with matched system uncertainties but unmatched disturbances. Departing from the above results, we propose a new, two-level design framework based on a command governor architecture to suppress the effect of matched uncertainties and unmatched disturbances and achieve a close tracking of the output of the reference system. Specifically, we first design an auxiliary state dynamics that allows not only the estimation of the matched uncertainties but also the estimation of the unmatched disturbances. Then, the authors propose a command governor architecture through a backstepping procedure to modify the command signal of the desired reference system such that the system output error signal can be made arbitrarily small by tuning the constant design parameters. Two numerical examples are provided to demonstrate the efficacy of the proposed command governor-based adaptive control architecture.
