Funnel Control Under Hard and Soft Output Constraints (extended version)
Abstract
This paper proposes a funnel control method under time-varying hard and soft output constraints. First, an online funnel planning scheme is designed that generates a constraint consistent funnel, which always respects hard (safety) constraints, and soft (performance) constraints are met only when they are not conflicting with the hard constraints. Next, the prescribed performance control method is employed for designing a robust low-complexity funnel-based controller for uncertain nonlinear Euler-Lagrangian systems such that the outputs always remain within the planned constraint consistent funnels. Finally, the results are verified with a simulation example of a mobile robot tracking a moving object while staying in a box-constrained safe space.
Cite
@article{arxiv.2208.02006,
title = {Funnel Control Under Hard and Soft Output Constraints (extended version)},
author = {Farhad Mehdifar and Charalampos P. Bechlioulis and Dimos V. Dimarogonas},
journal= {arXiv preprint arXiv:2208.02006},
year = {2026}
}
Comments
9 pages, 7 figures. Minor revisions: corrected text and mathematical typos, expanded discussion in Section III.A, and added a short appendix on relaxation of an assumption; main results unchanged