An improved input-constrained funnel controller for nonlinear systems

TL;DR

This paper introduces an improved funnel controller for uncertain nonlinear multi-input, multi-output systems with input constraints, reducing complexity and enhancing performance.

Contribution

The authors develop a simplified, more effective funnel controller for complex nonlinear systems, addressing input constraints and demonstrating superior simulation results.

Findings

Controller complexity is significantly reduced.

Fewer design parameters are needed.

Simulations show superior performance.

Abstract

We present an improvement of a recent funnel controller design for uncertain nonlinear multi-input, multi-output systems modeled by higher order functional differential equations in the presence of input constraints. The objective is to guarantee the evolution of the tracking error within a performance funnel with prescribed desired shape for the case of inactive saturation. Compared to its precursor, controller complexity is significantly reduced, much fewer design parameters are involved and simulations exhibit a superior performance.