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Asymptotic tracking with funnel control
Author(s) -
Trenn Stephan
Publication year - 2019
Publication title -
pamm
Language(s) - English
Resource type - Journals
ISSN - 1617-7061
DOI - 10.1002/pamm.201900071
Subject(s) - funnel , tracking (education) , control theory (sociology) , control (management) , tracking error , boundary (topology) , nonlinear system , computer science , adaptive control , mathematics , engineering , artificial intelligence , physics , mathematical analysis , psychology , pedagogy , mechanical engineering , quantum mechanics
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.