2020/01/15 by Berger, Thomas, Lê, Huy Hoàng, Reis, Timo
#FOS: Mathematics #Optimization and Control (math.OC)
paper · doi:10.48550/arxiv.2001.05391
We consider tracking control for multi-input multi-output differential-algebraic systems. First, the concept of vector relative degree is generalized for linear systems and we arrive at the novel concept of "truncated vector relative degree", and we derive a new normal form. Thereafter, we consider a class of nonlinear functional differential-algebraic systems which comprises linear systems with truncated vector relative degree. For this class we introduce a feedback controller which achieves that, for a given sufficiently smooth reference signal, the tracking error evolves within a prespecified performance funnel. We illustrate our results by an example of a robotic manipulator.