Model Reference Adaptive Control with Output Constraints

Abstract

This article focuses on the issue of model reference adaptive control (MRAC) for first-order linear time-invariant systems (LTIS) with output constraints and unknown gain sign. The completely unknown control coefficient is handled based on Nussbaum function. The output constraints are effectively dealt with by introducing barrier Lyapunov function (BLF). With the help of the Lyapunov synthesis approach, the updating laws of unknown parameters are determined. With the aid of Babalat’s lemma and the property of BLF, the tracking error is proved to converge asymptotically to zero, and output restrictions are not triggered. Simulation findings are used to verify the effectiveness of the proposed MRAC algorithm.