Year: 2025
Type: preprint
Abstract: We address the problem of output reference tracking for unknown non-linear multi-input, multi-output systems described by functional differential equations. This class of systems includes those with a strict relative degree, and bounded-input bounded-output (BIBO) stable internal dynamics. The objective is to ensure that the tracking error evolves within a prescribed performance funnel. To achieve this, we propose a novel model-free adaptive controller with lower complexity than existing funnel control methods, avoiding the use of non-linearities in intermediate error signals. We establish the feasibility and effectiveness of the proposed design through theoretical analysis and demonstrate its performance with simulations, comparing it to previous approaches.
Source: arXiv (Cornell University)
Author: Dennstädt, Dario
Language: English
Subfield: Control and Systems Engineering
Field: Engineering
Domain: Physical Sciences
Open Access status: green
OpenAlex ID: W6979233643
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