In this paper, we will present a new form of funnel controller for systems with control saturation. Compared to former research, the new controller is more reliable, and the closed-loop system …

2019年7月1日 · The idea behind funnel control is that by specifying a performance funnel the transient behavior of the tracking error is controlled by exploiting the high-gain property of the …

2023年10月5日 · In the Introduction, we describe the genesis of funnel control. After that, we investigate diverse system classes amenable to funnel control. Funnel control is shown for …

2018年1月1日 · In the present paper we introduce a simple funnel controller for systems with arbitrary known relative degree r and (in a suitable sense) input-to-state stable internal …

2021年2月26日 · An alternative controller was developed in for a special class of systems with \(m=1\) and arbitrary \(r\in {{\mathbb {N}}}\), termed the bang–bang funnel controller. Since the …

2017年10月9日 · For a class of sufficiently smooth reference signals, we introduce a dynamic controller which achieves that the tracking error evolves within a prespecified performance …

Abstract—A bang-bang controller is proposed which is able to ensure reference signal tracking with prespecified time-varying error bounds (the funnel) for nonlinear systems with relative …

The tracking objective is formulated in terms of a time-varying bound-a funnel-around a given reference signal. The proposed controller is bang-bang with two control values. The controller …

2016年9月19日 · Our aim is to design a simple output feedback law such that the transient as well as the asymptotic behavior of a dynamical system has desired properties. This goal is, for a …

An adaptive (time-varying) MIMO/SISO control strategy - funnel-control - for position control of nonlinear, coupled (rigid) robotic systems is presented and its applicability in robotics...