Funnel control for nonlinear systems with known strict relative degree
| Autor: | Thomas Berger, Huy Hoàng Lê, Timo Reis |
|---|---|
| Rok vydání: | 2018 |
| Předmět: |
0209 industrial biotechnology
business.product_category Adaptive control Degree (graph theory) Computer science 02 engineering and technology Tracking (particle physics) Signal Tracking error Nonlinear system 020901 industrial engineering & automation Control and Systems Engineering Control theory 0202 electrical engineering electronic engineering information engineering 020201 artificial intelligence & image processing Funnel Electrical and Electronic Engineering business |
| Zdroj: | Automatica. 87:345-357 |
| ISSN: | 0005-1098 |
| Popis: | 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 r − 1 derivatives of the tracking error, where r is 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. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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