Funnel control for nonlinear systems with higher relative degree. Issue 1 (17th December 2018)

• Record Type: Journal Article
• Authors: Berger, Thomas; Lê, Huy Hoàng; Reis, Timo
• Other Names: Müller G. guestEditor.; Ulbrich M. guestEditor.
• Is Part Of: Proceedings in applied mathematics and mechanics. Volume 18:Issue 1(2018)
• Page Start: n/a
• Page End: n/a
• Publication Date: 2018-12-17
• Subjects: Applied mathematics -- Periodicals; Engineering mathematics -- Periodicals; Mathematical physics -- Periodicals; 519
• DOI: 10.1002/pamm.201800059
• Languages: English
• ISSNs: 1617-7061

Abstract

Abstract: We consider tracking control for nonlinear multi‐input, multi‐output systems which have arbitrary strict relative degree and input‐to‐state stable internal dynamics. For a given reference signal, our aim is to design a controller which achieves that the tracking error evolves within a prespecified performance funnel around the reference signal. 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.