Experimental validation for the combination of funnel control with a feedforward control strategy
Citation Link: https://doi.org/10.15480/882.14938
Publikationstyp
Journal Article
Date Issued
2025-02
Sprache
English
TORE-DOI
Journal
Volume
63
Issue
1
Start Page
105
End Page
123
Citation
Multibody System Dynamics 63 (1): 105-123 (2025)
Publisher DOI
Scopus ID
Publisher
Springer
Current engineering design trends, such as lightweight machines and human–machine interaction, often lead to underactuated systems. Output trajectory tracking of such systems is a challenging control problem. Here, we use a two-design-degree of freedom control approach by combining funnel feedback control with feedforward control based on servo-constraints. We present experimental results to verify the approach and demonstrate that the addition of a feedforward controller mitigates drawbacks of the funnel controller. We also present new experimental results for the real-time implementation of a feedforward controller based on servo-constraints on a minimum phase system.
Subjects
Funnel control
Multibody systems
Servo-constraints
Underactuation
DDC Class
620: Engineering
510: Mathematics
Publication version
publishedVersion