Control and safe continual learning of output-constrained nonlinear systems
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Publication:6428068
arXiv2303.00523MaRDI QIDQ6428068FDOQ6428068
Authors: Lukas Lanza, Dario Dennstädt, Karl Worthmann, Philipp Schmitz, Gökçen Devlet Şen, Stephan Trenn, M. Schaller 
Publication date: 1 March 2023
Abstract: We consider output reference tracking for nonlinear systems with arbitrary relative degree via sampled-data feedback control. We propose a novel sample-and-hold controller, which achieves output reference tracking with prescribed transient behaviour of the tracking error. Furthermore, we derive explicit bounds on the maximal input signal and the uniform sampling time such that the proposed controller is feasible for all times. The results are numerically illustrated with a mass on car example.
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