{"id":"https://openalex.org/W7160501606","doi":"https://doi.org/10.48550/arxiv.2605.04656","title":"Adaptive MPC for Constrained Trajectory Tracking of Uncertain LTI System with Input-Rate Limits","display_name":"Adaptive MPC for Constrained Trajectory Tracking of Uncertain LTI System with Input-Rate Limits","publication_year":2026,"publication_date":"2026-05-06","ids":{"openalex":"https://openalex.org/W7160501606","doi":"https://doi.org/10.48550/arxiv.2605.04656"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2605.04656","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.04656","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2605.04656","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5135594523","display_name":"Bishal Dey","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Dey, Bishal","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102838067","display_name":"Abhishek Dhar","orcid":"https://orcid.org/0000-0001-6061-7860"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Dhar, Abhishek","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5022346353","display_name":"Sumit Kr Pandey","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Pandey, Sumit kr.","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5135544377","display_name":"Anindita Sengupta","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Sengupta, Anindita","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","score":0.8761000037193298,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","score":0.8761000037193298,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11749","display_name":"Iterative Learning Control Systems","score":0.05389999970793724,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12794","display_name":"Adaptive Dynamic Programming Control","score":0.017400000244379044,"subfield":{"id":"https://openalex.org/subfields/1703","display_name":"Computational Theory and Mathematics"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7813000082969666},{"id":"https://openalex.org/keywords/parametric-statistics","display_name":"Parametric statistics","score":0.6283000111579895},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6013000011444092},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.592199981212616},{"id":"https://openalex.org/keywords/tracking-error","display_name":"Tracking error","score":0.5317999720573425},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.5228999853134155},{"id":"https://openalex.org/keywords/bounded-function","display_name":"Bounded function","score":0.5175999999046326},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.47760000824928284},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.46540001034736633},{"id":"https://openalex.org/keywords/linear-system","display_name":"Linear system","score":0.4296000003814697}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7813000082969666},{"id":"https://openalex.org/C117251300","wikidata":"https://www.wikidata.org/wiki/Q1849855","display_name":"Parametric statistics","level":2,"score":0.6283000111579895},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6013000011444092},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.592199981212616},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5389999747276306},{"id":"https://openalex.org/C183356978","wikidata":"https://www.wikidata.org/wiki/Q1779213","display_name":"Tracking error","level":3,"score":0.5317999720573425},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.5228999853134155},{"id":"https://openalex.org/C34388435","wikidata":"https://www.wikidata.org/wiki/Q2267362","display_name":"Bounded function","level":2,"score":0.5175999999046326},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.47760000824928284},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.46540001034736633},{"id":"https://openalex.org/C6802819","wikidata":"https://www.wikidata.org/wiki/Q1072174","display_name":"Linear system","level":2,"score":0.4296000003814697},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.38260000944137573},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.37119999527931213},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.3675999939441681},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.3637999892234802},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.3637000024318695},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.33149999380111694},{"id":"https://openalex.org/C155512373","wikidata":"https://www.wikidata.org/wiki/Q287450","display_name":"Residual","level":2,"score":0.3303000032901764},{"id":"https://openalex.org/C167964875","wikidata":"https://www.wikidata.org/wiki/Q17011487","display_name":"Exponential stability","level":3,"score":0.31679999828338623},{"id":"https://openalex.org/C137836250","wikidata":"https://www.wikidata.org/wiki/Q984063","display_name":"Optimization problem","level":2,"score":0.3082999885082245},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.3059999942779541},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.28439998626708984},{"id":"https://openalex.org/C61797465","wikidata":"https://www.wikidata.org/wiki/Q1188986","display_name":"Term (time)","level":2,"score":0.2842000126838684},{"id":"https://openalex.org/C205711294","wikidata":"https://www.wikidata.org/wiki/Q176953","display_name":"Rendering (computer graphics)","level":2,"score":0.2784000039100647},{"id":"https://openalex.org/C150189527","wikidata":"https://www.wikidata.org/wiki/Q356674","display_name":"Reference model","level":2,"score":0.2775999903678894},{"id":"https://openalex.org/C87698059","wikidata":"https://www.wikidata.org/wiki/Q1808960","display_name":"LTI system theory","level":3,"score":0.27379998564720154},{"id":"https://openalex.org/C192209626","wikidata":"https://www.wikidata.org/wiki/Q190909","display_name":"Focus (optics)","level":2,"score":0.27239999175071716},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.26440000534057617},{"id":"https://openalex.org/C52970973","wikidata":"https://www.wikidata.org/wiki/Q2497134","display_name":"Adaptive system","level":2,"score":0.25780001282691956},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.2533000111579895}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2605.04656","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.04656","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2605.04656","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.04656","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"This":[0],"paper":[1],"addresses":[2],"the":[3,66,92,116,137,147,166,177,180],"trajectory-tracking":[4],"problem":[5],"for":[6,57],"discrete-time":[7],"linear":[8],"time-invariant":[9],"systems":[10],"with":[11,85,121],"bounded":[12],"parametric":[13,63],"uncertainty,":[14,35],"subject":[15],"to":[16,70],"hard":[17],"constraints":[18,87],"on":[19,43],"system":[20,118,172],"states,":[21],"control":[22,54,67,93,100,150],"inputs,":[23],"and":[24,102,169],"input":[25,68],"rates.":[26],"Unlike":[27],"existing":[28],"methods,":[29],"which":[30],"often":[31],"consider":[32],"only":[33],"partial":[34],"omit":[36],"input-rate":[37,86,154],"or":[38,41],"state":[39],"constraints,":[40],"focus":[42],"regulation":[44],"problems,":[45],"this":[46],"work":[47],"provides":[48],"a":[49,97,122,129],"systematic":[50],"adaptive":[51,125],"model":[52],"predictive":[53],"(MPC)":[55],"solution":[56],"constrained":[58],"trajectory":[59,81],"tracking":[60,73,82,167],"under":[61,75,83],"full":[62],"uncertainty.":[64],"Determining":[65],"required":[69],"achieve":[71],"zero":[72],"error":[74,168],"unknown":[76],"parameters":[77],"is":[78,142,158],"challenging.":[79],"Simultaneously,":[80],"uncertainty":[84],"induces":[88],"temporal":[89],"coupling":[90],"in":[91,96],"sequence,":[94],"resulting":[95],"time-varying":[98,148],"admissible":[99,149],"set":[101,151],"rendering":[103],"standard":[104],"recursive":[105,134],"feasibility":[106,135],"arguments":[107],"inapplicable.":[108],"These":[109],"challenges":[110],"are":[111],"overcome":[112],"by":[113,153],"systematically":[114],"utilizing":[115],"estimated":[117],"parameters,":[119],"coupled":[120],"suitably":[123],"designed":[124],"learning":[126],"process":[127],"within":[128],"reformulated":[130],"MPC":[131,139],"framework.":[132],"The":[133],"of":[136,165,171,179],"proposed":[138],"optimization":[140],"routine":[141],"then":[143],"rigorously":[144],"established":[145],"despite":[146],"induced":[152],"constraints.":[155],"Closed-loop":[156],"stability":[157],"guaranteed":[159],"via":[160],"Lyapunov-based":[161],"analysis,":[162],"ensuring":[163],"convergence":[164],"boundedness":[170],"states.":[173],"Simulation":[174],"results":[175],"validate":[176],"effectiveness":[178],"pr":[181]},"counts_by_year":[],"updated_date":"2026-07-01T06:00:48.157686","created_date":"2026-05-08T00:00:00"}