Composite μ-mod model reference adaptive control with input constraints

Based on the widely used model reference adaptive control (MRAC), a new controller is proposed to tackle a class of single-input(SI) systems in the presence of matched uncertainties and input constraints. The core idea is to substitute conventional simple direct adaptive control for composite model adaptive control (CMRAC). The main control structure that results in tractable responsibility is discussed in tail, in which the performance is adaptive to address the constraints of input in addition to retaining the usual transient properties and dynamic stability. To this end, a typical positive μ-mod method is developed on the basis of CMRAC frame to aim at a correct control. The formulated method supplies a convenient and intuitive interpretation to solve the control design problem, meanwhile utilizing the basic MRAC ideas. Moreover, Simulation is conducted to evaluate the control performance of longitudinal dynamics of an aerial vehicle.