2022/03/19 by Thomas Berger, Berger, Thomas, Dario Dennstädt +1 · 1 citation
Engineering · #34H05 #49J30 #93B45 #93C10 #Advanced Control Systems Optimization #FOS: Mathematics #Optimization and Control (math.OC)
paper · pdf · doi:10.48550/arxiv.2203.10328
openalex publication_date 2022/03/19 · openalex created_date 2022/04/03 · openalex updated_date 2026/07/28
We study tracking control for nonlinear systems with known relative degree and stable internal dynamics by the recently introduced technique of Funnel MPC. The objective is to achieve the evolution of the tracking error within a prescribed performance funnel. We propose a novel stage cost for Funnel MPC, extending earlier designs to the case of arbitrary relative degree, and show that the control objective as well as initial and recursive feasibility are always achieved - without requiring any terminal conditions or a sufficiently long prediction horizon. We only impose an additional feasibility constraint in the optimal control problem.