3 papers
math.OC2026
String stability and guaranteed safety via funnel cruise control for vehicle platoons
Thomas Berger, Bart Besselink
We study decentralized control strategies for platoons of autonomous vehicles with heterogeneous and nonlinear dynamics. Based on ideas from funnel control, we present a novel dece…
math.OC2025
A model-free approach to control barrier functions using funnel control
Lukas Lanza, Johannes Köhler, Dario Dennstädt +2
Control barrier functions (CBFs) are a popular approach to design feedback laws that achieve safety guarantees for nonlinear systems. The CBF-based controller design relies on the…
math.OC2025
On Model Predictive Funnel Control with Equilibrium Endpoint Constraints
Jens Göbel, Dario Dennstädt, Lukas Lanza +3
We propose model predictive funnel control, a novel model predictive control (MPC) scheme building upon recent results in funnel control. The latter is a high-gain feedback methodo…