Funnel-Control with Online Foresight

C.M. Hackl and D. Schröder (Germany)


Adaptive Control, Robust Control, Nonlinear Systems


This paper presents two approaches to optimize a recent non–identifier based time-varying adaptive control strategy – Funnel–Control. The gain is adapted by weighting the distance between the actual control error and a predefined (decreasing) function – the Funnel boundary – representing the desired limit of the error evolution. Measurement noise is admissible. Within this publication the control strategy is improved twice: a) By defining a scaling function only increasing the gain for more accurate and faster control per formance b) By introducing an analytic, a numeric and a derivative implementation of the minimal (future) distance – an online foresight for the control task, which guarantees accelerated control at ef cient use of the control input.

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