# Model Reference-Based Control with Guaranteed Predefined Performance for Uncertain Strict-Feedback Systems

arXiv: https://arxiv.org/abs/2502.03263 · HTML: https://mlsanity.com/paper/2502.03263/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 5 Feb 2025.

## Built on by (most cited first, 1 of 1)

- [Vision-based Goal-Reaching Control for Mobile Robots Using a Hierarchical Learning Framework](https://mlsanity.com/paper/2601.00610/) (2026)

## Abstract (arXiv)

To address the complexities posed by time- and state-varying uncertainties and the computation of analytic derivatives in strict-feedback form (SFF) systems, this study introduces a novel model reference-based control (MRBC) framework which applies locally to each subsystem (SS), to ensure output tracking performance within the specified transient and steady-state response criteria. This framework includes 1) novel homogeneous adaptive estimators (HAEs) designed to match the uncertain nonlinear SFF system to a reference model, enabling easier analysis and control design at the level, and 2) model-based homogeneous adaptive controllers enhanced by logarithmic barrier Lyapunov functions (HAC-BLFs), intended to control the reference model provided by HAEs in each SS, while ensuring the prescribed tracking responses under control amplitude saturation. The inherently robust MRBC achieves uniformly exponential stability using a generic stability connector term, which addresses dynamic interactions between the adjacent SSs. The parameter sensitivities of HAEs and HAC-BLFs in the MRBC framework are analyzed, focusing on the system's robustness and responsiveness. The proposed MRBC framework is experimentally validated through several scenarios involving an electromechanical linear actuator system with an uncertain SFF, subjected loading disturbance forces challenging 0-95% of its capacity.