相关论文: Funnel control in the presence of infinite-dimensi…

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 consider funnel control for linear infinite-dimensional systems that are impedance passive, meaning that they satisfy an energy balance in which the stored energy equals the squared norm of the state and the supplied power is the inner…

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 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 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 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…

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 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…

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 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…

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…

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…

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,…

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…

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…

In this paper, problems of optimal control are considered where in the objective function, in addition to the control cost there is a tracking term that measures the distance to a desired stationary state. The tracking term is given by some…

We investigate optimal control of dynamical systems which are affine, i.e., linear in control, but nonlinear in state. The control task is to enforce the system state to follow a prescribed desired trajectory as closely as possible, a task…

In this paper, we focus on recovery control of nonlinear systems from attacks or failures. The main challenges of this problem lie in (1) learning the unknown dynamics caused by attacks or failures with formal guarantees, and (2) finding…

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…