Funnel control by induced contraction

• Published in: IFAC-PapersOnLine Vol. 55; no. 30; pp. 248 - 253
• Main Authors: Lee, Jin Gyu, Burghi, Thiago B.
• Format: Journal Article
• Language: English
• Published: Elsevier Ltd 2022
• Subjects: Funnel control; Non-minimum phase systems; Nonlinear adaptive control; Output feedback control; Tracking; Nonlinear adaptive control; Tracking; Non-minimum phase systems; Output feedback control; Funnel control
• ISSN: 2405-8963; 2405-8963
• DOI: 10.1016/j.ifacol.2022.11.060

This note explores a property of the internal dynamics that is essential for the functioning of classical funnel control. We relax the property of internal dynamics bounded-input bounded-output (BIBO) stability by concentrating on a narrower class of output reference trajectories. Our ideas have a connection with the recently introduced concept of induced contraction, which is motivated by the phenomenon of noise-induced synchronization in neuronal oscillators. We remark that, contrary to previous works, we only have to modify the class of admissible output reference trajectories to handle non-minimum phase systems. We also propose a way (specific to nonlinear systems) to choose an output reference trajectory (possibly under output constraints) for classical funnel control to work for a certain class of unknown systems.