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Funnel control for nonlinear systems with higher relative degree
Author(s) -
Berger Thomas,
Lê Huy Hoàng,
Reis Timo
Publication year - 2018
Publication title -
pamm
Language(s) - English
Resource type - Journals
ISSN - 1617-7061
DOI - 10.1002/pamm.201800059
Subject(s) - funnel , control theory (sociology) , degree (music) , nonlinear system , controller (irrigation) , signal (programming language) , tracking (education) , computer science , tracking error , state (computer science) , mathematics , control (management) , algorithm , engineering , artificial intelligence , physics , mechanical engineering , psychology , agronomy , pedagogy , quantum mechanics , acoustics , biology , programming language
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.