Vector relative degree and funnel control for differential-algebraic systems
Optimization and Control
2020-01-16 v1
Abstract
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.
Cite
@article{arxiv.2001.05391,
title = {Vector relative degree and funnel control for differential-algebraic systems},
author = {Thomas Berger and Huy Hoàng Lê and Timo Reis},
journal= {arXiv preprint arXiv:2001.05391},
year = {2020}
}