14 papers · 1 filter
Funnel MPC with feasibility constraints for nonlinear systems with arbitrary relative degree
Thomas Berger, Dario Dennstädt
We study tracking control for nonlinear systems with known relative degree and stable internal dynamics by the recently introduced technique of Funnel MPC. The objective is to achi…
Quasi feedback forms for differential-algebraic systems
Thomas Berger, Achim Ilchmann, Stephan Trenn
We investigate feedback forms for linear time-invariant systems described by differential-algebraic equations. Feedback forms are representatives of certain equivalence classes. Fo…
Tracking control for underactuated non-minimum phase multibody systems
Thomas Berger, Svenja Drücker, Lukas Lanza +2
We consider tracking control for multibody systems which are modelled using holonomic and nonholonomic constraints. Furthermore, the systems may be underactuated and contain kinema…
Funnel control of nonlinear systems
Thomas Berger, Achim Ilchmann, Eugene P Ryan
Tracking of reference signals is addressed in the context of a class of nonlinear controlled systems modelled by -th order functional differential equations, encompassing inter…
Funnel control of the Fokker-Planck equation for a multi-dimensional Ornstein-Uhlenbeck process
Thomas Berger
In this paper the feasibility of funnel control techniques for the Fokker-Planck equation corresponding to a multi-dimensional Ornstein-Uhlenbeck process on an unbounded spatial do…
Vector relative degree and funnel control for differential-algebraic systems
Thomas Berger, Huy Hoàng Lê, Timo Reis
We consider tracking control for multi-input multi-output differential-algebraic systems. First, the concept of vector relative degree is generalized for linear systems and we arri…