Related papers: Input-constrained funnel control of nonlinear syst…
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…
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 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 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…
This paper proposes a novel control framework for handling (potentially coupled) multiple time-varying output constraints for uncertain nonlinear systems. First, it is shown that the satisfaction of multiple output constraints boils down to…
We consider output trajectory tracking for a class of uncertain nonlinear systems whose internal dynamics may be modelled by infinite-dimensional systems which are bounded-input, bounded-output stable. We describe under which conditions…
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 consider tracking control for uncertain linear systems with known relative degree which are possibly non-minimum phase, i.e., their zero dynamics may have an unstable part. For a given sufficiently smooth reference signal we design a…
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 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…
We study a nonlinear, non-autonomous feedback controller applied to boundary control systems. Our aim is to track a given reference signal with prescribed performance. Existence and uniqueness of solutions to the resulting closed-loop…
We study tracking control for a nonlinear moving water tank system modelled by the linearized Saint-Venant equations, where the output is given by the position of the tank and the control input is the force acting on it. For a given…
The paper addresses the problem of controller synthesis for control-affine nonlinear systems to meet reach-avoid-stay specifications. Specifically, the goal of the research is to obtain a closed-form control law ensuring that the…
The methodology of funnel control was introduced in the early 2000s, and it has developed since then in many respects achieving a level of mathematical maturity balanced by practical applications. Its fundamental tenet is the attainment of…
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)…
We propose a novel sampled-data output-feedback controller for nonlinear systems of arbitrary relative degree that ensures reference tracking within prescribed error bounds. We provide explicit bounds on the maximum input signal and the…
In real-world control applications, actuator constraints and output constraints (specifically in tracking problems) are inherent and critical to ensuring safe and reliable operation. However, generally, control strategies often neglect…
We exploit an adaptive control technique, namely funnel control, in order to establish both initial and recursive feasibility in Model Predictive Control (MPC) for output-constrained nonlinear systems. Moreover, we show that the resulting…
We study adaptive fault tolerant tracking control for uncertain linear systems. Based on recent results in funnel control and the time-varying Byrnes-Isidori form, we develop a low-complexity model-free controller which achieves prescribed…