An improved input-constrained funnel controller for nonlinear systems
Optimization and Control
2026-04-29 v2
Abstract
We present an improvement of a recent funnel controller design for uncertain nonlinear multi-input, multi-output systems modeled by higher order functional differential equations in the presence of input constraints. The objective is to guarantee the evolution of the tracking error within a performance funnel with prescribed desired shape for the case of inactive saturation. Compared to its precursor, controller complexity is significantly reduced, much fewer design parameters are involved and simulations exhibit a superior performance.
Cite
@article{arxiv.2506.18417,
title = {An improved input-constrained funnel controller for nonlinear systems},
author = {Thomas Berger},
journal= {arXiv preprint arXiv:2506.18417},
year = {2026}
}