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Funnel control for nonlinear systems with known strict relative degree

Berger, Thomas; Lê, Huy Hoàng; Reis, Timo

Automatica. Volume 87: (2018, January); pp 345-357 -- Elsevier Ltd

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  • Title:
    Funnel control for nonlinear systems with known strict relative degree
  • Author: Berger, Thomas;
    Lê, Huy Hoàng;
    Reis, Timo
  • Found In: Automatica. Volume 87: (2018, January); pp 345-357
  • Journal Title: Automatica
  • Subjects: Automatic control--Periodicals; Automation--Periodicals; Nonlinear systems--Relative degree--Adaptive control--Model-free control--Funnel control; Dewey: 629.805
  • Rights: Licensed
  • Publication Details: Elsevier Ltd
  • Abstract: Abstract We consider tracking control for uncertain nonlinear multi-input, multi-output systems which have arbitrary strict relative degree and input-to-state stable internal dynamics. For a given sufficiently smooth reference signal, our aim is to design a low-complexity model-free controller which achieves that the tracking error evolves within a prespecified performance funnel. To this end, we introduce a new controller which involves the first r1derivatives of the tracking error, where ris the strict relative degree of the system. We derive an explicit bound for the resulting input and discuss the influence of the controller parameters. We further present some simulations where our funnel controller is applied to a mechanical system with higher relative degree and a two-input, two-output robot manipulator. The controller is also compared with other approaches.
  • Identifier: System Number: ETOCvdc_100073094986.0x000001; Journal ISSN: 0005-1098; 10.1016/j.automatica.2017.10.017
  • Publication Date: 2018
  • Physical Description: Electronic
  • Shelfmark(s): 1829.450000
  • UIN: ETOCvdc_100073094986.0x000001

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