Constrained Parameter Update Law for Adaptive Control
Optimization and Control
2026-01-27 v3 Systems and Control
Signal Processing
Systems and Control
Abstract
In this paper, a constrained parameter update law is derived in the context of adaptive control. The parameter update law is based on constrained optimization technique where a Lagrangian is formulated to incorporate the constraints on the parameters using inverse Barrier function. The constrained parameter update law is used to develop a adaptive tracking controller and the overall stability of the adaptive controller along with the constrained parameter update law is shown using Lyapunov analysis and development in stability of constrained primal-dual dynamics. The performance of the constrained parameter update law is tested in simulation for keeping the parameters within constraints and convergence to true parameters.
Keywords
Cite
@article{arxiv.2504.19412,
title = {Constrained Parameter Update Law for Adaptive Control},
author = {Ashwin P. Dani},
journal= {arXiv preprint arXiv:2504.19412},
year = {2026}
}