Control of Nonlinear Systems Under Multiple Time-Varying Output Constraints: A Single Funnel Approach
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arXiv
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| Main Authors: | , , , |
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| Format: | Preprint |
| Published: |
2023
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| _version_ | 1866929662034182144 |
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| author | Mehdifar, Farhad Lindemann, Lars Bechlioulis, Charalampos P. Dimarogonas, Dimos V. |
| author_facet | Mehdifar, Farhad Lindemann, Lars Bechlioulis, Charalampos P. Dimarogonas, Dimos V. |
| contents | This paper proposes a novel control framework for handling (potentially coupled) multiple time-varying output constraints for uncertain nonlinear systems. First, it is shown that the satisfaction of multiple output constraints boils down to ensuring the positiveness of a scalar variable (the signed distance from the time-varying output-constrained set's boundary). Next, a single funnel constraint is designed properly, whose satisfaction ensures convergence to and invariance of the time-varying output-constrained set. Then a robust and low-complexity funnel-based feedback controller is designed employing the prescribed performance control method. Finally, a simulation example clarifies and verifies the proposed approach. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2307_06465 |
| institution | arXiv |
| publishDate | 2023 |
| record_format | arxiv |
| spellingShingle | Control of Nonlinear Systems Under Multiple Time-Varying Output Constraints: A Single Funnel Approach Mehdifar, Farhad Lindemann, Lars Bechlioulis, Charalampos P. Dimarogonas, Dimos V. Systems and Control Dynamical Systems This paper proposes a novel control framework for handling (potentially coupled) multiple time-varying output constraints for uncertain nonlinear systems. First, it is shown that the satisfaction of multiple output constraints boils down to ensuring the positiveness of a scalar variable (the signed distance from the time-varying output-constrained set's boundary). Next, a single funnel constraint is designed properly, whose satisfaction ensures convergence to and invariance of the time-varying output-constrained set. Then a robust and low-complexity funnel-based feedback controller is designed employing the prescribed performance control method. Finally, a simulation example clarifies and verifies the proposed approach. |
| title | Control of Nonlinear Systems Under Multiple Time-Varying Output Constraints: A Single Funnel Approach |
| topic | Systems and Control Dynamical Systems |
| url | https://arxiv.org/abs/2307.06465 |