Related papers: A low-complexity funnel control approach for non-l…
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…
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…
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 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…
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 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…
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…
An adaptive funnel control method is considered for the regulation of the output for a class of nonlinear infinite-dimensional systems on real Hilbert spaces. After a decomposition of the state space and some change of variables related to…
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 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…
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 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 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…
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 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…
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 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 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…
Feedforward controllers typically rely on accurately identified inverse models of the system dynamics to achieve high reference tracking performance. However, the impact of the (inverse) model identification error on the resulting tracking…