Asymptotic tracking with funnel control

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Abstract

Funnel control is a strikingly simple control technique to ensure model free practical tracking for quite general nonlinear systems. It has its origin in the adaptive control theory, in particular, it is based on the principle of high gain feedback control. The key idea of funnel control is to chose the feedback gain large when the tracking error approaches the prespecified error tolerance (the funnel boundary). It was long believed that it is a theoretical limitation of funnel control not being able to achieve asymptotic tracking, however, in this contribution it will be shown that this is not the case.
Original languageEnglish
Title of host publication90th Annual Meeting of the International Association of Applied Mathematics and Mechanics (GAMM)
EditorsJ. Eberhardsteiner, M. Schöberl
PublisherWiley
Chaptere201900071
Number of pages2
DOIs
Publication statusPublished - Nov-2019

Publication series

NamePAMM
PublisherJohn Wiley & Sons
Number1
Volume19
ISSN (Print)1617-7061

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