@inproceedings{34851131845b40778688c7d876bd7782,
title = "Low-Complexity Non-Smooth Funnel Control: A Transition Function-Based Approach for Nonlinear MIMO Systems",
abstract = "This paper presents a non-smooth funnel control approach with low complexity for nonlinear MIMO systems. The proposed technique incorporates a transition function, which eliminates the dependence on initial conditions and allows for the flexible design of the funnel boundary. The controller leverages a predefined-time convergence funnel region to ensure that the tracking error converges to the steady-state funnel region within a user-specified time. Additionally, a non-smooth funnel transformation is applied, substantially minimizing the tracking error to a more compact steady-state funnel region. Furthermore, the controller's simple structure ensures computational efficiency and ease of implementation. The stability of the closed-loop system is proven through Lyapunov theory, and the proposed approach's effectiveness is demonstrated through simulations on a second-order MIMO system and experimental tests with a SCARA robot.",
keywords = "Funnel control, initial condition, nonlinear MIMO systems, prescribed performance",
author = "Chao Zhang and Ren, {Xue Mei} and Jing Na and Zheng, {Dong Dong}",
note = "Publisher Copyright: {\textcopyright} 2024 Technical Committee on Control Theory, Chinese Association of Automation.; 43rd Chinese Control Conference, CCC 2024 ; Conference date: 28-07-2024 Through 31-07-2024",
year = "2024",
doi = "10.23919/CCC63176.2024.10662814",
language = "English",
series = "Chinese Control Conference, CCC",
publisher = "IEEE Computer Society",
pages = "646--651",
editor = "Jing Na and Jian Sun",
booktitle = "Proceedings of the 43rd Chinese Control Conference, CCC 2024",
address = "United States",
}