Combined open-loop and funnel control for underactuated multibody systems

Berger, Toby; Otto, Svenja; Reis, Timo; Seifried, Robert

doi:10.1007/s11071-018-4672-5

Cited by 53 publications

(67 citation statements)

References 35 publications

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“…The new funnel control strategy has a potential impact on various applications. Since its development in [30], the funnel controller proved an appropriate tool for tracking problems in various applications such as temperature control of chemical reactor models [33], control of industrial servo-systems [24] and underactuated multibody systems [9], speed control of wind turbine systems [21,23], current control for synchronous machines [22], DC-link power flow control [52], voltage and current control of electrical circuits [14], oxygenation control during artificial ventilation therapy [45], control of peak inspiratory pressure [46] and adaptive cruise control [12,13].…”

Section: Applicationsmentioning

confidence: 99%

“…This complicates the feedback structure for larger values of the parameter r . In (9) all required signals are explicitly given by the recursion in (8) and can be implemented directly. (c) The parameterr ∈ {1, .…”

Section: Remark 17mentioning

confidence: 99%

“…[8]. Here, we choose ϕ 1 = ϕ 2 = ϕ, with ϕ(t) = (3e −t + 0.1) −1 for t ≥ 0 and compare the controller (9) with (28). The simulation (Fig.…”

Section: Mass-on-car Systemmentioning

confidence: 99%

“…Simulation, under controllers(9) and(27), of system(26) with ϑ = π . 5b shows the respective input functions.…”

mentioning

confidence: 99%

“…Simulation, under controllers(9) and(28), of system (26) with ϑ = 0 Planar rigid revolute joint robotic manipulator…”

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confidence: 99%

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Funnel control of nonlinear systems

Berger

Ilchmann

Ryan

2021

Math. Control Signals Syst.

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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 input effects. A control structure is developed which ensures that, for every member of the underlying system class and every admissible reference signal, the tracking error evolves in a prescribed funnel chosen to reflect transient and asymptotic accuracy objectives. Two fundamental properties underpin the system class: bounded-input bounded-output stable internal dynamics, and a high-gain property (an antecedent of which is the concept of sign-definite high-frequency gain in the context of linear systems).

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Section: Applicationsmentioning

confidence: 99%

Section: Remark 17mentioning

confidence: 99%

“…[8]. Here, we choose ϕ 1 = ϕ 2 = ϕ, with ϕ(t) = (3e −t + 0.1) −1 for t ≥ 0 and compare the controller (9) with (28). The simulation (Fig.…”

Section: Mass-on-car Systemmentioning

confidence: 99%

“…Simulation, under controllers(9) and(27), of system(26) with ϑ = π . 5b shows the respective input functions.…”

mentioning

confidence: 99%

“…Simulation, under controllers(9) and(28), of system (26) with ϑ = 0 Planar rigid revolute joint robotic manipulator…”

mentioning

confidence: 99%

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Funnel control of nonlinear systems

Berger

Ilchmann

Ryan

2021

Math. Control Signals Syst.

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Neuro‐adaptive practical prescribed‐time control for pure‐feedback nonlinear systems without accurate initial errors

Tan

2023

Adaptive Control & Signal

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Summary This article studies the problem of practical prescribed‐time tracking for pure‐feedback nonlinear systems, where the transient behavior, steady‐state precision, settling time as well as the rate of convergence can be preset irrespective of initial conditions. With the help of a time‐dependent function and a state‐dependent function, a simple coordinate transformation is established to construct a neuro‐adaptive controller to achieve the tracking purpose. In particular, the proposed controller does not need to update the design parameters in accordance with different initial conditions, which makes the controller more versatile. The effectiveness of the proposed method is illustrated through two practical systems, namely, a continuous stirred tank reactor (CSTR), and a robotic system.

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Prescribed performance control for uncertain underactuated systems via constraint‐following with application to a PVTOL aircraft

Liu

Chen

et al. 2023

Adaptive Control & Signal

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SummaryGuaranteeing prescribed transient and steady state performance (TSSP) for mechanical systems is of great significance to their motion control, motivating the prescribed performance control (PPC). This study investigates the PPC for uncertain underactuated systems. We consider time‐varying (possibly fast), bounded uncertainty including large mismatched portions, however the bound is unknown. The control design is implemented via constraint‐following, that is, rendering the system to follow a series of servo constraints. We hence impose the prescribed TSSP on the constraint‐following error. An approximation‐free adaptive robust PPC based on a state transformation technique is designed, achieving approximate constraint‐following and guaranteeing the prescribed TSSP to be satisfied. It employs an adaptive law to online estimate the unknown bounds for uncertainty compensation. It does not assume sufficiently small mismatched uncertainties, hence admitting large mismatched uncertainties. The stability of the controlled underactuated systems is sustained by rigorous proofs. By the proposed approach, the PPC of a planar vertical take‐off and landing aircraft is explored, which also illustrates the effectiveness of the approach.

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Combined open-loop and funnel control for underactuated multibody systems

Cited by 53 publications

References 35 publications

Funnel control of nonlinear systems

Funnel control of nonlinear systems

Neuro‐adaptive practical prescribed‐time control for pure‐feedback nonlinear systems without accurate initial errors

Prescribed performance control for uncertain underactuated systems via constraint‐following with application to a PVTOL aircraft

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