Open this publication in new window or tab >>2023 (English)Manuscript (preprint) (Other academic)
Abstract [en]
This paper proposes a novel control framework for handling (potentially coupled) multiple time-varying output constraints for uncertain nonlinear systems. First, it is shown that the satisfaction of multiple output constraints boils down to ensuring the positiveness of a scalar variable (the signed distance from the time-varying output-constrained set’s boundary). Next, a single funnel constraint is designed properly, whose satisfaction ensures convergence to and invariance of the time-varying output-constrained set. Then a robust and low-complexity funnel-based feedback controller is designed employing the prescribed performance control method. Finally, a simulation example clarifies and verifies the proposed approach
National Category
Control Engineering
Identifiers
urn:nbn:se:kth:diva-341631 (URN)10.48550/arXiv.2307.06465 (DOI)
Note
Submitted to 62nd IEEE Conference on Decision and Control (CDC), Dec 13-15, 2023, Singapore
QC 20231228
2023-12-272023-12-272023-12-28Bibliographically approved