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Sampled-data control for nonlinear systems with tracking error bounds

Published on:

1 March 2023

Primary Category:

Optimization and Control

Paper Authors:

Lukas Lanza,

Dario Dennstädt,

Karl Worthmann,

Stephan Trenn,

Manuel Schaller

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Key Details

Proposes novel sampled-data controller for nonlinear systems with tracking error bounds

Derives explicit bounds on sampling time and control input

Achieves tracking without precise system knowledge, only estimates

Allows starting on error boundary, unlike funnel control

Numerical example verifies controller performance

AI generated summary

Sampled-data control for nonlinear systems with tracking error bounds

This paper proposes a novel sampled-data controller that achieves output tracking for nonlinear systems within pre-specified error boundaries. The controller uses zero-order hold and uniform sampling, allowing rigorous proof of tracking accuracy. Bounds on sampling time and control input are derived based on system knowledge. The approach contrasts with continuous-time funnel control methods which cannot estimate control effort a priori.

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