Funnel-Control with Constrained Control Input Compensation

C.M. Hackl, Y. Ji, and D. Schröder (Germany)


Adaptive Control, Robust Control, Nonlinear Control


Nearly any industrial control system inheres nonlinearities due to constrained control inputs, this saturation may lead to undesired control performance or even result in desta bilization of Funnel–Control – a recent robust and adaptive control strategy for a wide range of nonlinear systems. This paper presents an overall compensation of the negative ef fects of control input saturation. To compensate the satu ration influence, the Funnel boundary – a predefined limit of the control error – is adjusted online to guarantee stable control performance and effective use of the available con trol variable, so that the saturation limit is never exceeded.

Important Links:

Go Back