Experimental validation for the combination of funnel control with a feedforward control strategy
Optimization and Control
2023-12-08 v1
Abstract
Current engineering design trends, such as light-weight machines and humanmachine-interaction, often lead to underactuated systems. Output trajectory tracking of such systems is a challenging control problem. Here, we use a twodesign-degree of freedom control approach by combining funnel feedback control with feedforward control based on servo-constraints. We present experimental results to verify the approach and demonstrate that the addition of a feedforward controller mitigates drawbacks of the funnel controller. We also present new experimental results for the real-time implementation of a feedforward controller based on servo-constraints on a minimum phase system.
Keywords
Cite
@article{arxiv.2312.04380,
title = {Experimental validation for the combination of funnel control with a feedforward control strategy},
author = {Svenja Drücker and Lukas Lanza and Thomas Berger and Timo Reis and Robert Seifried},
journal= {arXiv preprint arXiv:2312.04380},
year = {2023}
}