Related papers: Tracking with prescribed performance for linear no…
We consider tracking control of linear minimum phase systems with known arbitrary relative degree which are subject to possible output measurement losses. We provide a control law which guarantees the evolution of the tracking error within…
This paper addresses output reference tracking with prescribed transient performance for unknown nonlinear multi-input multi-output systems with arbitrary relative degree. We propose a novel derivative-free extension of funnel control based…
We study output reference tracking of systems with high relative degree via output feedback only; this is, tracking where the output derivatives are unknown. To this end, we prove that the conjunction of the funnel pre-compensator with a…
Funnel control achieves output tracking with guaranteed tracking performance for unknown systems and arbitrary reference signals. In particular, the tracking error is guaranteed to satisfy time-varying error bounds for all times (it evolves…
We study tracking control for uncertain nonlinear multi-input, multi-output systems modelled by $r$-th order functional differential equations (encompassing systems with arbitrary strict relative degree) in the presence of input…
We address the problem of output reference tracking for unknown non-linear multi-input, multi-output systems described by functional differential equations. This class of systems includes those with a strict relative degree, and…
Tracking of reference signals is addressed in the context of a class of nonlinear controlled systems modelled by $r$-th order functional differential equations, encompassing inter alia systems with unknown "control direction" and dead-zone…
We study tracking control for nonlinear systems with known relative degree and stable internal dynamics by the recently introduced technique of Funnel MPC. The objective is to achieve the evolution of the tracking error within a prescribed…
In this paper, we present a prescribed performance control framework for trajectory tracking in Euler-Lagrange systems with unknown dynamics and prescribed input constraints. The proposed approach enforces hard funnel constraints, meaning…
Output reference tracking of unknown nonlinear systems is considered. The control objective is exact tracking in predefined finite time, while in the transient phase the tracking error evolves within a prescribed boundary. To achieve this,…
We address the problem of output reference tracking for unknown nonlinear multi-input, multi-output systems with relative degree two and bounded-input bounded-state (BIBS) stable internal dynamics. We propose a novel model-free adaptive…
The Model Predictive Control (MPC) scheme Funnel MPC enables output tracking of smooth reference signals with prescribed error bounds for nonlinear multi-input multi-output systems with stable internal dynamics. Earlier works achieved the…
We study output reference tracking for unknown continuous-time systems with arbitrary relative degree. The control objective is to keep the tracking error within predefined time-varying bounds while measurement data is only available at…
This paper presents a prescribed performance-based tracking control strategy for the atmospheric reentry flight of space vehicles subject to rapid maneuvers during flight mission. A time-triggered non-monotonic performance funnel is…
We propose a novel feedback controller for a class of uncertain higher-order nonlinear systems, subject to delays in both state measurement and control input signals. Building on the prescribed performance control framework, a…
We exploit a recently developed funnel control methodology for linear non-minimum phase systems to design an output error feedback controller for a nonlinear robotic manipulator, which is not minimum phase. We illustrate the novel control…
We propose a novel robust Model Predictive Control (MPC) scheme for nonlinear multi-input multi-output systems of relative degree one with stable internal dynamics. The proposed algorithm is a combination of funnel MPC, i.e., MPC with a…
We show that Funnel MPC, a novel Model Predictive Control (MPC) scheme, allows tracking of smooth reference signals with prescribed performance for nonlinear multi-input multi-output systems of relative degree one with stable internal…
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…
Funnel MPC, a novel Model Predictive Control (MPC) scheme, allows guaranteed output tracking of smooth reference signals with prescribed error bounds for nonlinear multi-input multi-output systems. To this end, the stage cost resembles the…