Internal dynamics of multibody systems

Lanza, Lukas

doi:10.1016/j.sysconle.2021.104931

Cited by 8 publications

(5 citation statements)

References 16 publications

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“…, r − 1 from which boundedness of ėk (•) follows, which in turn implies boundedness of αk (•) and γk (•) on [0, ω). Now, via (16) and (17) boundedness of e Step five. We show boundedness of α r (•) on [0, ω).…”

Section: Discussionmentioning

confidence: 99%

Exact output tracking in prescribed finite time via funnel control

Lanza¹

2022

Preprint

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We extend a recent result in high-gain feedback output tracking control to achieve exact tracking within finite time, i.e., the output of a system and its relevant derivatives have certain exact values at a predefined finite time. We propose a new funnel control scheme achieving this, whereas the error between the reference and the output evolves within prescribed bounds. Applications of this are, for instance, linking up two parts of a train, or docking spaceships.

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Section: Discussionmentioning

confidence: 99%

Exact output tracking in prescribed finite time via funnel control

Lanza¹

2022

Preprint

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“…The Delassus' matrix is a kind of decoupling matrix in the input/output linearization theory [54, section 4.2.1]. See [296] for extensions with different outputs with calculation of the Byrnes-Isidori canonical form.…”

Section: Relative Degreementioning

confidence: 99%

Modeling, analysis and control of robot–object nonsmooth underactuated Lagrangian systems: A tutorial overview and perspectives

Brogliato

2023

Annual Reviews in Control

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“…[21]. In [25] an approach is presented to compute Φ algorithmically. In the simple but relevant case of linear output h(x) = Hx, H ∈ R m×n , and constant input distribution g(x) = G ∈ R n×m such that HG is invertible, the assumptions of [12,Cor.…”

Section: Model Classmentioning

confidence: 99%

“…In the simple but relevant case of linear output h(x) = Hx, H ∈ R m×n , and constant input distribution g(x) = G ∈ R n×m such that HG is invertible, the assumptions of [12,Cor. 5.7] are satisfied and following the derivations in [25], the transformation can be written as…”

Section: Model Classmentioning

confidence: 99%

Robust Funnel MPC for nonlinear systems with relative degree one

Berger¹,

Dennstädt²,

Lanza³

et al. 2023

Preprint

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We propose a novel Model Predictive Control scheme for robust output reference tracking with prescribed performance for nonlinear multi-input multi-output systems of relative degree one with stable internal dynamics. Combining funnel MPC with the model-free adaptive funnel controller, the new robust funnel MPC algorithm guarantees output tracking of reference signals within predefined boundaries even in the presence of unknown disturbances and a structural model-plant mismatch. Initial and recursive feasibility of the control scheme is shown without imposing terminal conditions or requirements on the length of the prediction horizon. To this end, we propose a proper initialization strategy; and to ensure that the feedback controller does not contribute unnecessarily much, we introduce an activation function for the latter.

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Internal dynamics of multibody systems

Cited by 8 publications

References 16 publications

Exact output tracking in prescribed finite time via funnel control

Exact output tracking in prescribed finite time via funnel control

Modeling, analysis and control of robot–object nonsmooth underactuated Lagrangian systems: A tutorial overview and perspectives

Robust Funnel MPC for nonlinear systems with relative degree one

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