Adaptive tracking control of a class of linear systems with constrained actuators

In this paper, the problem of adaptive tracking control for a class of linear continuous time-invariant systems subject to constrained actuators is investigated. A novel control strategy is developed to ensure the bounded tracking of the systems. Based on Lyapunov stability theory, a result that indicates the tracking bound can be reduced as small as desired via adjusting control parameters is obtained. Then the control strategy is improved to guarantee that actuator action behaves in the limitation of maximum magnitude of actuators. Finally, simulation results of a cruise keeping marine vehicle are given to illustrate the proposed procedures and their effectiveness.