相关论文: Experimental validation for the combination of fun…
The problem of feed-forward control of overhead crane system is discussed. By combining the Kalman's controllability theory and Hartman-Grobman theorem from dynamical system theory, a linear, continuous state feedback-based feed-forward…
Closed-loop control of an amplifier flow is experimentally investigated. A feed-forward algorithm is implemented to control the flow downstream a backward-facing step. Upstream and downstream data are extracted from real-time velocity…
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…
Parameterized feedforward control is at the basis of many successful control applications with varying references. The aim of this paper is to develop an efficient data-driven approach to learn the feedforward parameters for MIMO systems.…
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 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…
Time delays due to signal latency, computational complexity, and sensor-denied environments, pose a critical challenge in both engineered and biological control systems. In this work, we investigate biologically inspired strategies to…
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 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…
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…
This paper considers optimal input design when the intended use of the identified model is to construct a feed-forward controller based on measurable disturbances. The objective is to find a minimum power excitation signal to be used in…
We present an approach to path following using so-called control funnel functions. Synthesizing controllers to "robustly" follow a reference trajectory is a fundamental problem for autonomous vehicles. Robustness, in this context, requires…
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…
The purpose of this paper is to illustrate, in an experimental facility consisting of a simple pendular device, the performance of a sliding mode adaptive position-feedback tracking controller of mechanical systems with friction reported in…
In many control systems, tracking accuracy can be enhanced by combining (data-driven) feedforward (FF) control with feedback (FB) control. However, designing effective data-driven FF controllers typically requires large amounts of…
A hybrid (i.e., physics-guided data-driven) feedforward tracking controller is proposed for systems with unmodeled linear or nonlinear dynamics. The controller is based on the filtered basis function (FBF) approach, hence it is called a…
Electromechanical switching devices such as relays, solenoid valves, and contactors offer several technical and economic advantages that make them widely used in industry. However, uncontrolled operations result in undesirable…
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 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…
Because they represent physical systems with propagation delays, hyperbolic systems are well suited for feedforward control. This is especially true when the delay between a disturbance and the output is larger than the control delay. In…