Funnel control of nonlinear systems

被引:47
作者
Berger, Thomas [1 ]
Ilchmann, Achim [2 ]
Ryan, Eugene P. [3 ]
机构
[1] Univ Paderborn, Inst Math, Warburger Str 100, D-33098 Paderborn, Germany
[2] Tech Univ Ilmenau, Inst Math, Weimarer Str 25, D-98693 Ilmenau, Germany
[3] Univ Bath, Dept Math Sci, Bath BA2 7AY, Avon, England
关键词
Nonlinear systems; Adaptive control; Asymptotic tracking; Funnel control; Relative degree; Functional differential equations; PRESCRIBED TRANSIENT-BEHAVIOR; FUNCTIONAL-DIFFERENTIAL EQUATIONS; ADAPTIVE NEURAL-CONTROL; ASYMPTOTIC TRACKING; OUTPUT-FEEDBACK; PERFORMANCE;
D O I
10.1007/s00498-021-00277-z
中图分类号
TP [自动化技术、计算机技术];
学科分类号
0812 ;
摘要
Tracking of reference signals is addressed in the context of a class of nonlinear controlled systems modelled by r-th-order functional differential equations, encompassing inter alia systems with unknown "control direction" and dead-zone input effects. A control structure is developed which ensures that, for every member of the underlying system class and every admissible reference signal, the tracking error evolves in a prescribed funnel chosen to reflect transient and asymptotic accuracy objectives. Two fundamental properties underpin the system class: bounded-input bounded-output stable internal dynamics, and a high-gain property (an antecedent of which is the concept of sign-definite high-frequency gain in the context of linear systems).
引用
收藏
页码:151 / 194
页数:44
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