Input-constrained funnel control of nonlinear systems

2022/02/11 by Thomas Berger, Berger, Thomas · 5 citations
Engineering · #Adaptive Control of Nonlinear Systems #Advanced Control Systems Optimization #FOS: Mathematics #Iterative Learning Control Systems #Optimization and Control (math.OC)

paper · pdf · doi:10.48550/arxiv.2202.05494

openalex publication_date 2022/02/11 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28

Abstract

We study tracking control for uncertain nonlinear multi-input, multi-output systems modelled by r-th order functional differential equations (encompassing systems with arbitrary strict relative degree) in the presence of input constraints. The objective is to guarantee the evolution of the tracking error within a performance funnel with prescribed asymptotic shape (thus achieving desired transient and asymptotic accuracy objectives), for any sufficiently smooth reference signal. We design a novel funnel controller which, in order to satisfy the input constraints, contains a dynamic component which widens the funnel boundary whenever the input saturation is active. This design is model-free, of low-complexity and extends earlier funnel control approaches. We present a simulation where the controller is compared to these approaches.

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