Safe data-driven reference tracking with prescribed performance

2023/12/14 by Philipp Schmitz, Schmitz, Philipp, Lukas Lanza +3
Engineering · #Advanced Control Systems Optimization #Control Systems and Identification #FOS: Mathematics #Fault Detection and Control Systems #Optimization and Control (math.OC)

paper · pdf · doi:10.48550/arxiv.2312.08734

openalex publication_date 2023/12/14 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28

Abstract

We study output reference tracking for unknown continuous-time systems with arbitrary relative degree. The control objective is to keep the tracking error within predefined time-varying bounds while measurement data is only available at discrete sampling times. To achieve the control objective, we propose a two-component controller. One part is a recently developed sampled-data zero-order hold controller, which achieves reference tracking within prescribed error bounds. To further improve the control signal, we explore the system dynamics via input-output data, and include as the second component a data-driven MPC scheme based on Willems et al.'s fundamental lemma. This combination yields significantly improved input signals as illustrated by a numerical example.

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