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arXiv · 2312.04380

Experimental validation for the combination of funnel control with a feedforward control strategy

Svenja Drücker·Lukas Lanza·Thomas Berger·Timo Reis·Robert Seifried
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Abstract

Current engineering design trends, such as light-weight machines and humanmachine-interaction, often lead to underactuated systems. Output trajectory tracking of such systems is a challenging control problem. Here, we use a twodesign-degree of freedom control approach by combining funnel feedback control with feedforward control based on servo-constraints. We present experimental results to verify the approach and demonstrate that the addition of a feedforward controller mitigates drawbacks of the funnel controller. We also present new experimental results for the real-time implementation of a feedforward controller based on servo-constraints on a minimum phase system.

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Svenja Drücker, Lukas Lanza, Thomas Berger, Timo Reis, Robert Seifried. 2023-12-07. Experimental validation for the combination of funnel control with a feedforward control strategy. https://arxiv.org/abs/2312.04380

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