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model reference adaptive control for state and input constrained linear systems

EUROPEAN JOURNAL OF control 2025年 82卷

作者： Chattopadhyay, Sudipta Sukumar, Srikant Natarajan, Vivek Indian Inst Technol Syst & Control Engn Grp Mumbai 400076 India

State and input constraints are ubiquitous in all engineering systems and developing adaptive controllers for uncertain linear systems under pre-specified state and input constraints is a problem of fundamental interest. For uncertain linear systems, a computationally inexpensive control method is the model reference adaptive control (MRAC). Although MRAC controllers come with strong stability guarantees they do not guarantee system operation within the pre-defined state and input constraints. Several modifications of the MRAC framework have been proposed to address input constraints in uncertain linear systems. Considering the infeasibility of arbitrary reference trajectories, reference modification has been implemented in the case of input constraints in the literature. The resulting conditions on the reference and input signals are difficult to verify online. Similar results on state and input constraints together have also been proposed, albeit resulting in more complex and unverifiable conditions on the control. In this paper, we have developed a modified MRAC controller that can handle state and input constraints in uncertain linear systems. We have also provided easily verifiable conditions on the control and reference under which our stability results hold. Obtaining such a verifiable condition is crucial in practical implementations on safety-critical systems. A combination of reference modification and barrier Lyapunov methods in adaptive control are employed to arrive at these results.

关键词： model reference adaptive control Barrier function State constraint Input constraint reference modification

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model reference adaptive control for pH regulation

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RIAI - Revista Iberoamericana de Automatica e Informatica Industrial 2025年第2期22卷 126-134页

作者： Caparroz, Malena Guzmán, José Luis Berenguel, Manuel Gil, Juan Diego Acién, Francisco Gabriel Departamento de Informática ceiA3 CIESOL Universidad de Almería Ctra. Sacramento s/n La Cañada de San Urbano Almería Spain Departamento de Ingeniería Química ceiA3 CIESOL Universidad de Almería Ctra. Sacramento s/n La Cañada de San Urbano Almería Spain

The control of raceway photobioreactors for microalgae production represents a significant challenge due to its non-linear dynamics, the presence of disturbances, the biological nature of the system and the high interaction between the different variables. In this way, this work presents a model reference adaptive control (MRAC) strategy for pH control, one of the most critical and challenging variables to regulate. The strategy combines the implementation of the classical MRAC scheme with a PI (proportional-integral) controller, resulting in a hybrid control structure. This structure has been implemented in a first-principles simulator and has been compared with the classical PI scheme, evaluating the behaviour of both strategies by means of performance indices. The results obtained validate the use of adaptive control techniques such as the one implemented in order to obtain a better pH regulation. © 2025 Universidad Politecnica de Valencia. All rights reserved.

关键词： model reference adaptive control

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model reference adaptive control of Uncertain Over-Actuated Nonlinear Systems with Nonlinear reference models

Model Reference Adaptive Control of Uncertain Over-Actuated ...

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AIAA Science and Technology Forum and Exposition, AIAA SciTech Forum 2025

作者： Bray, Andrew Dogan, K. Merve FAST Laboratory Department of Aerospace Engineering Embry-Riddle Aeronautical University Daytona BeachFL32114 United States

ISBN: (数字)9781624107238

ISBN: (纸本)9781624107238

In this paper, we explore the capabilities of model reference adaptive controllers for better response to uncertain over-actuated nonlinear dynamical systems that use nonlinear refer ence models. It is common practice to use linear reference models in controllers;however, this can lead to limitations on the closed-loop system performance;thus, there exists a need to operate a nonlinear reference model. To overcome this limitation and leverage the full capabilities of high-performance uncertain dynamical systems, a controller is proposed that uses a nonlinear reference model. We provide the stability analysis that indicates system error between the uncertain dynamical system and the nonlinear reference model vanishing asymptotically in the steady state. A numerical example of hexacopter rotational dynamics is included to show the efficacy of the proposed controller. © 2025, American Institute of Aeronautics and Astronautics Inc, AIAA. All rights reserved.

关键词： model reference adaptive control

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H∞ model reference adaptive control of switched linear systems based on multi-time-varying Lyapunov functions

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INTERNATIONAL JOURNAL OF SYSTEMS SCIENCE 2025年第4期56卷 796-807页

作者： Xia, Xuedong Ma, Ruicheng Qu, Yuanchao Liaoning Univ Sch Math & Stat Shenyang Peoples R China

In this paper, the H-infinity model reference adaptive problem of a class of switched linear systems with parameter uncertainty under the switching of dwell time is studied. First, in the absence of interference, a time-varying Lyapunov function with increasing coefficient is introduced to derive sufficient conditions for the reference adaptive control of the H-infinity model, where the dwell time is an arbitrary preset constant. Secondly, an adaptive controller and adaptive law are proposed to ensure the asymptotic tracking of the switched system. Then, in the case of interference, the sufficient conditions for the solvable H-infinity model reference adaptive tracking control under dwell time switching are proposed, and the standard L-2-gain performance of the switching system is analysed. The characteristic of this paper is to solve the H-infinity model reference adaptive tracking control problem of a class of switched systems with uncertain parameters by using time-varying Lyapunov function with increasing coefficient. The increasing coefficient in Lyapunov function can increase the degree of freedom of controller design and improve the control performance of the system. Dwell time switching can avoid the H-infinity control problem of switched system which cannot realise state-dependent switching because all state information cannot be obtained.

关键词： Switched systems model reference adaptive control standard L-2-gain performance time-varying Lyapunov function dwell time

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model reference adaptive control of the nonlinear fractional order - stochastic model of the corona virus

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CHAOS SOLITONS & FRACTALS 2025年 194卷

作者： Ranjbar, Abedin Madady, Ali Ramezani, Mehdi Khosravi, Alireza Tafresh Univ Dept Elect Engn Tafresh Iran Tafresh Univ Dept Math Tafresh Iran Babol Noshirvani Univ Technol Dept Elect & Comp Engn Babol Iran

In this paper, the model reference adaptive control (MRAC) method along with a state feedback controller is employed for synchronizing NFSCV, a complex nonlinear fractional-order stochastic model of the coronavirus. MRAC is a methodology that combines both linear feedback controllers and adaptive law techniques for designing a simple but robust adaptive feedback system. We have added a stochastic noise term to the coronavirus model representing sudden mutations and external disturbances. Also, we will implement the realization of fractional-order differential equations, and it gives us a real representation of the virus. In this paper, we address the question of when the controlled model 'infective or slave system' states can be observed and tuned to the master or reference model 'healthy and vaccination' states for our objective functions attempting a minimization between tracking errors of the states of master and slave systems, variance, and squared error integrals. In this paper, we further show that the system is asymptotically stable using the stochastic analysis along with Lyapunov theory. Through these simulations, we are able to see that by using our control algorithm, the infected individuals can be driven to follow a trajectory close to the one followed by the vaccinated individuals.

关键词： Stochastic differential equations Fractional-order systems Feedback control Coronavirus model model reference adaptive control

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Revisiting model reference adaptive control: Linear-Like Closed-Loop Behavior

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IEEE TRANSACTIONS ON AUTOMATIC control 2025年第3期70卷 1483-1498页

作者： Shahab, Mohamad T. Miller, Daniel E. King Abdullah Univ Sci & Technol KAUST Comp Elect & Math Sci & Engn CEMSE Div Thuwal 23955 Saudi Arabia Univ Waterloo Dept Elect & Comp Engn Waterloo ON N2L 3G1 Canada

In this article, we examine the model reference adaptive control problem when the commonly used projection algorithm is utilized, subject to several common assumptions on the set of admissible parameters, in particular a compactness constraint as well as knowledge of the sign of the high-frequency gain. It is proven in the literature that for this setup, the closed-loop system is bounded-input bounded-state;since the closed-loop system is not linear time-invariant, this does not imply a bounded gain. Here, we prove a much crisper and detailed bound on the closed-loop behavior consisting of three terms: a decaying exponential on the initial condition, a linear-like convolution bound on the exogenous inputs, and a constant scaled by the square root of the constant in the denominator of the estimator update law;we also provide an upper bound on the two-norm of the tracking error. We then demonstrate that the same kind of bounds hold in the presence of a degree of unmodeled dynamics and plant parameter time-variation.

关键词： adaptive control Projection algorithms Convolution Stability analysis Adaptation models Vectors Standards Linear-like behavior model reference adaptive control projection algorithms robustness

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Partial-State Feedback Consensus model reference adaptive control for Nonaffine Drag-Free Spacecraft Inner-Formation System

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IEEE TRANSACTIONS ON AEROSPACE AND ELECTRONIC SYSTEMS 2025年第2期61卷 3408-3424页

作者： Sun, Xiaoyun Shen, Qiang Wu, Shufan Shanghai Jiao Tong Univ Sch Aeronaut & Astronaut Shanghai 200240 Peoples R China Shanghai Frontier Sci Ctr Gravitat Wave Detect Shanghai 200240 Peoples R China

This article proposes a consensus control approach for the inner-formation system (IFS) containing the drag-free spacecraft and two cubic test masses. Considering the control problem caused by immeasurable states of the velocities in the system, a partial-state feedback control scheme is investigated, and the consensus model reference model reference adaptive control (MRAC) is established to adaptively actuate the IFS to a stable reference model in consideration of parameter uncertainties. Concerning the nonaffine electrostatic actuation and suspension of the test masses, the fuzzy logic system is used to estimate the unknown nonlinearities. By combining the fuzzy logic-based estimator and adaptive consensus controller, the partial-state feedback model reference adaptive consensus control scheme is developed for the nonaffine IFS. Theoretical analysis proves the uniformly ultimately boundedness of each closed-loop signal in the formation system, the control performance is verified by the numerical simulations of the drag-free spacecraft IFS.

关键词： Space vehicles Adaptation models Electrodes Orbits Electrostatics Gravitational waves Aerodynamics adaptive control State feedback Consensus control drag-free spacecraft formation system model reference adaptive control nonaffine system partial-state feedback

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model reference adaptive control (MRAC) for dual-axis solar tracker applied in CPV

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SOLAR ENERGY MATERIALS AND SOLAR CELLS 2025年 279卷

作者： Palomino-Resendiz, S. I. Penaloza-Lopez, M. A. Flores-Hernandez, D. A. Solis-Cervantes, C. U. Palomino-Resendiz, R. L. Inst Politecn Nacl ESIME Zacatenco Unidad Profes Adolfo Lopez Mateos Ave Luis Enrique Erro S-N Ciudad De Mexico 07738 Mexico Inst Politecn Nacl UPIITA Ave Inst Politecn Nacl 2580 Ciudad De Mexico 07340 Cdmx Mexico Inst Politecn Nacl CMPL Ave Acueducto S-N Ciudad De Mexico 07340 Mexico

In this work, the simulation of the behavior of an MRAC assisted solar tracker in solar trajectory tracking tasks has been developed fora prototype of a two-axis solar tracker that presents structural and performance characteristics capable of supporting PV, CPV, and HCPV-type technology. The proposal is numerically validated by developing an experimental methodology consisting of two stages. The first stage is associated with developing tests of the MRAC-assisted solar tracker to reproduce a solar trajectory (obtained offline by a numerical method) with and without the injection of disturbances (with dynamics equivalent to wind loads in reality), respectively. On the other hand, in the second stage, after replicating the conditions of the tests of stage one but with the assistance of a simple PID type controller, the analysis and comparison of the performance of each alternative is carried out, the above, in terms of tracking error or pointing accuracy. The results show that both alternatives are functional in the development of tests under favorable conditions. However, under conditions with disturbances, it can be noted that the MRAC reduces the tracking error by around 87% compared to PID control.

关键词： model reference adaptive control Solar energy Solar tracker CPV-HCPV

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Encrypted model reference adaptive control With False Data Injection Attack Resilience via Somewhat Homomorphic Encryption-Based Overflow Trap

IEEE Transactions on Industrial Cyber-Physical Systems

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IEEE Transactions on Industrial Cyber-Physical Systems 2025年 3卷 262-272页

作者： Blevins, Jacob Ueda, Jun Georgia Institute of Technology G.W.W. School of Mechanical Engineering AtlantaGA30332 United States

Cloud-based control is prevalent in many modern control applications. Such applications require security for the sake of data secrecy and system safety. The presented research proposes an encrypted adaptive control framework that can be secured for cloud computing with encryption and without issues caused by encryption overflow and large execution delays. This objective is accomplished by implementing a somewhat homomorphic encryption (SHE) scheme on a modified model reference adaptive controller with accompanying encryption parameter tuning rules. Additionally, this paper proposes a virtual false data injection attack (FDIA) trap based on the SHE scheme. The trap guarantees a probability of attack detection by the adjustment of encryption parameters, thus protecting the system from malicious third parties. The formulated algorithm is then simulated, verifying that after tuning encryption parameters, the encrypted controller produces desired plant outputs while guaranteeing detection or compensation of FDIAs. With the utilization of this novel control framework, adaptively controlled systems will maintain data confidentiality and integrity against malicious adversaries. © 2023 IEEE.

关键词： model reference adaptive control

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Experimental Results with an Embedded model reference adaptive control System on a Multirotor UAS

Experimental Results with an Embedded Model Reference Adapti...

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AIAA Science and Technology Forum and Exposition, AIAA SciTech Forum 2025

作者： Cartaya, Samuel Jaramillo, Jesse Yucelen, Tansel ControlX Inc. in Santa Clara CA95054 United States

ISBN: (数字)9781624107238

ISBN: (纸本)9781624107238

Electric vertical take-off and landing (eVTOL) aerial vehicles have many practical applications and are a cornerstone of growing research in recent years. These types of vehicles possess highly nonlinear, coupled dynamics and come across a wide array of uncertainties and disturbances during flight. Many control architectures have been used for the stability and control of eVTOL vehicles during flight. One promising and advantageous method is the implementation of a model reference adaptive control (MRAC) architecture. These types of MRAC systems have a learning mechanism that learns the nature of an uncertainty present in the system dynamics and subsequently alter the controller gains online. It does so in a way that drives the states of the uncertain system to that of a known, desired reference model. This paper describes a standard MRAC architecture and discusses the benefits of its implementation in flight, specifically on a multirotor UAS vehicle. The construction of a medium-sized hexacopter is detailed, along with a discussion of the performance results in the presence of unknown uncertainties. Specifically, we demonstrate an improved flight tracking performance, while in the presence of uncertainties over that of a standard PID control architecture. In addition, we show that the adaptive control architecture allows for a more optimal battery usage during flight, which aids in improved performance. The implementation of adaptive flight control structures paves a beneficial path for future eVTOL aircraft, due to the capability of these control architectures being able to handle a wide class of uncertainties and improve system performance. © 2025, American Institute of Aeronautics and Astronautics Inc, AIAA. All rights reserved.

关键词： model reference adaptive control

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