Robust funnel model predictive control for output tracking with prescribed performance

DOI10.1137/23M1551195MaRDI QIDQ6576860zbMATH OpenFDO

Authors Thomas Berger, Dario Dennstädt, Lukas Lanza, Karl Worthmann

Publication date 23 July 2024

Published in SIAM Journal on Control and Optimization (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1137/23M1551195

zbMATH Keywords

funnel controlmodel predictive controlmodel-plant mismatchnonlinear systemsprescribed performancereference trackingrobustness

Mathematics Subject Classification ID

Sensitivity (robustness) (93B35) Model predictive control (93B45) Nonlinear systems in control theory (93C10)

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Cited in

(4)

• Funnel MPC for nonlinear systems with arbitrary relative degree
• Sampled-data funnel control and its use for safe continual learning
• Adaptive boundary prescribed-performance MPC for 3-D UAV formation with obstacle/collision avoidance
• Safe continual learning in model predictive control with prescribed bounds on the tracking error

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