Nonlinear Control Systems
Contributions to non-identifier based adaptive control in mechatronics
Robotics and Autonomous Systems
Funnel-control with constrained control input compensation
CA '07 Proceedings of the Ninth IASTED International Conference on Control and Applications
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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 performance 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 efficient use of the control input.