8 papers · 1 filter
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…
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…
Two-component controller design to safeguard data-driven predictive control
Lea Bold, Lukas Lanza, Karl Worthmann
We design a two-component controller to achieve reference tracking with output constraints - exemplified on systems of relative degree two. One component is a data-driven or learni…
Safe continual learning in model predictive control with prescribed bounds on the tracking error
Lukas Lanza, Dario Dennstädt, Thomas Berger +1
We develop a three-component Model Predictive Control (MPC) algorithm to achieve output-reference tracking with prescribed performance for continuous-time nonlinear systems. One co…
Sampled-data funnel control and its use for safe continual learning
Lukas Lanza, Dario Dennstädt, Karl Worthmann +4
We propose a novel sampled-data output-feedback controller for nonlinear systems of arbitrary relative degree that ensures reference tracking within prescribed error bounds. We pro…
Exact output tracking in prescribed finite time via funnel control
Lukas Lanza
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 e…