Exact output tracking in prescribed finite time via funnel control

TL;DR

This paper introduces a novel high-gain feedback controller that ensures exact output tracking within a predefined finite time for unknown nonlinear systems, with the tracking error constrained within a prescribed boundary during transients.

Contribution

The paper develops and rigorously proves a new high-gain feedback controller that extends existing methods to achieve prescribed finite-time tracking with error boundaries.

Findings

Controller guarantees exact tracking in finite time

Error remains within prescribed boundary during transients

Applicable to complex systems like train linking and spaceship docking

Abstract

Output reference tracking of unknown nonlinear systems is considered. The control objective is exact tracking in predefined finite time, while in the transient phase the tracking error evolves within a prescribed boundary. To achieve this, a novel high-gain feedback controller is developed that is similar to, but extends, existing high-gain feedback controllers. Feasibility and functioning of the proposed controller is proven rigorously. Examples for the particular control objective under consideration are, for instance, linking up two train sections, or docking of spaceships.