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arXiv · 2307.06465

Control of Nonlinear Systems Under Multiple Time-Varying Output Constraints: A Single Funnel Approach

Farhad Mehdifar·Lars Lindemann·Charalampos P. Bechlioulis·Dimos V. Dimarogonas
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Abstract

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.

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Farhad Mehdifar, Lars Lindemann, Charalampos P. Bechlioulis, Dimos V. Dimarogonas. 2023-07-12. Control of Nonlinear Systems Under Multiple Time-Varying Output Constraints: A Single Funnel Approach. https://doi.org/10.1109/cdc49753.2023.10383359

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