A low-complexity funnel control approach for non-linear systems of higher-order
Fuente:
arXiv
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| Formato: | Preprint |
| Publicado: |
2025
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| _version_ | 1866913854240325632 |
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| author | Dennstädt, Dario |
| author_facet | Dennstädt, Dario |
| contents | We address the problem of output reference tracking for unknown non-linear multi-input, multi-output systems described by functional differential equations. This class of systems includes those with a strict relative degree, and bounded-input bounded-output (BIBO) stable internal dynamics. The objective is to ensure that the tracking error evolves within a prescribed performance funnel. To achieve this, we propose a novel model-free adaptive controller with lower complexity than existing funnel control methods, avoiding the use of non-linearities in intermediate error signals. We establish the feasibility and effectiveness of the proposed design through theoretical analysis and demonstrate its performance with simulations, comparing it to previous approaches. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2503_11370 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | A low-complexity funnel control approach for non-linear systems of higher-order Dennstädt, Dario Optimization and Control We address the problem of output reference tracking for unknown non-linear multi-input, multi-output systems described by functional differential equations. This class of systems includes those with a strict relative degree, and bounded-input bounded-output (BIBO) stable internal dynamics. The objective is to ensure that the tracking error evolves within a prescribed performance funnel. To achieve this, we propose a novel model-free adaptive controller with lower complexity than existing funnel control methods, avoiding the use of non-linearities in intermediate error signals. We establish the feasibility and effectiveness of the proposed design through theoretical analysis and demonstrate its performance with simulations, comparing it to previous approaches. |
| title | A low-complexity funnel control approach for non-linear systems of higher-order |
| topic | Optimization and Control |
| url | https://arxiv.org/abs/2503.11370 |