Model Reference Adaptive Control with Time-Varying State and Input Constraints
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| Format: | Preprint |
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2025
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| _version_ | 1866909760119373824 |
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| author | Ghosh, Poulomee Bhasin, Shubhendu |
| author_facet | Ghosh, Poulomee Bhasin, Shubhendu |
| contents | This paper presents a model reference adaptive control (MRAC) framework for uncertain linear time-invariant (LTI) systems subject to user-defined, time-varying state and input constraints. The proposed design seamlessly integrates a time-varying barrier Lyapunov function (TVBLF) to enforce state constraints with a time-varying saturation function to handle input limits. These time-varying constraints can be designed as performance functions to shape transient and steady-state behaviors for both state and input. A key contribution is the derivation of a verifiable, offline feasibility condition to check the existence of a valid control policy for a given set of constraints. To the best of our knowledge, this is the first adaptive control methodology to simultaneously handle both time-varying state and input constraints without resorting to online optimization. Simulation results validate the efficacy of the proposed constrained MRAC scheme. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2508_21586 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Model Reference Adaptive Control with Time-Varying State and Input Constraints Ghosh, Poulomee Bhasin, Shubhendu Systems and Control This paper presents a model reference adaptive control (MRAC) framework for uncertain linear time-invariant (LTI) systems subject to user-defined, time-varying state and input constraints. The proposed design seamlessly integrates a time-varying barrier Lyapunov function (TVBLF) to enforce state constraints with a time-varying saturation function to handle input limits. These time-varying constraints can be designed as performance functions to shape transient and steady-state behaviors for both state and input. A key contribution is the derivation of a verifiable, offline feasibility condition to check the existence of a valid control policy for a given set of constraints. To the best of our knowledge, this is the first adaptive control methodology to simultaneously handle both time-varying state and input constraints without resorting to online optimization. Simulation results validate the efficacy of the proposed constrained MRAC scheme. |
| title | Model Reference Adaptive Control with Time-Varying State and Input Constraints |
| topic | Systems and Control |
| url | https://arxiv.org/abs/2508.21586 |