Adaptive tracking control of uncertain MIMO nonlinear systems with input constraints

Mou Chen, Shuzhi Sam Ge, Beibei Ren

Research output: Contribution to journalArticlepeer-review

760 Scopus citations


In this paper, adaptive tracking control is proposed for a class of uncertain multi-input and multi-output nonlinear systems with non-symmetric input constraints. The auxiliary design system is introduced to analyze the effect of input constraints, and its states are used to adaptive tracking control design. The spectral radius of the control coefficient matrix is used to relax the nonsingular assumption of the control coefficient matrix. Subsequently, the constrained adaptive control is presented, where command filters are adopted to implement the emulate of actuator physical constraints on the control law and virtual control laws and avoid the tedious analytic computations of time derivatives of virtual control laws in the backstepping procedure. Under the proposed control techniques, the closed-loop semi-global uniformly ultimate bounded stability is achieved via Lyapunov synthesis. Finally, simulation studies are presented to illustrate the effectiveness of the proposed adaptive tracking control.

Original languageEnglish
Pages (from-to)452-465
Number of pages14
Issue number3
StatePublished - Mar 3 2011


  • Adaptive tracking control
  • Backstepping control
  • Command filter
  • Input constraint
  • Nonlinear systems


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