Experimental validation for the combination of funnel control with a feedforward control strategy

Publikationstyp
Journal Article
Date Issued
2025-02
Sprache
English
Author(s)
Drücker, Svenja  orcid-logo
Mechanik und Meerestechnik M-13  
Lanza, Lukas  
Technische Universität Ilmenau, Institut für Mathematik
Berger, Thomas  
Universität Paderborn, Institut für Mathematik
Reis, Timo  
Technische Universität Ilmenau, Institut für Mathematik
Seifried, Robert  orcid-logo
Mechanik und Meerestechnik M-13  
TORE-DOI
10.15480/882.14938
TORE-URI
https://hdl.handle.net/11420/46909
Journal
Multibody system dynamics  
Volume
63
Issue
1
Start Page
105
End Page
123
Citation
Multibody System Dynamics 63 (1): 105-123 (2025)
Publisher DOI
10.1007/s11044-024-09976-2
Scopus ID
2-s2.0-85188138049
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
Lizenz
https://creativecommons.org/licenses/by/4.0/
Loading...
Thumbnail Image
Name

s11044-024-09976-2.pdf

Type

Main Article

Size

1.3 MB

Format

Adobe PDF