Asymptotic adaptive tracking with input amplitude and rate constraints and bounded disturbances

Sze Yong, Emilio Frazzoli

Research output: Contribution to journalConference articlepeer-review

2 Scopus citations


In this paper, we develop a direct model reference adaptive control framework for asymptotic adaptive tracking in the presence of actuator input amplitude and rate constraints for some classes of uncertain linear time-invariant systems and nonlinear systems. This framework also allows for rejection of bounded time-varying disturbances, without causing any chatter in the control input. Moreover, positive (ρ; μ)-modification is proposed to protect the control law from the actuator saturation limits. The design is model-based and ensures global asymptotic tracking for open-loop input-to-state stable systems, while an estimate of the domain of attraction is derived for local asymptotic tracking in the case of input-to-state unstable systems. The approach is illustrated with examples.

Original languageEnglish (US)
Article number7039554
Pages (from-to)1256-1263
Number of pages8
JournalProceedings of the IEEE Conference on Decision and Control
Issue numberFebruary
StatePublished - Jan 1 2014
Externally publishedYes
Event2014 53rd IEEE Annual Conference on Decision and Control, CDC 2014 - Los Angeles, United States
Duration: Dec 15 2014Dec 17 2014

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modeling and Simulation
  • Control and Optimization


Dive into the research topics of 'Asymptotic adaptive tracking with input amplitude and rate constraints and bounded disturbances'. Together they form a unique fingerprint.

Cite this