Funnel control for a moving water tank

descriptionPublicationkeyboard_double_arrow_right Article , Preprint , Research 01 Jan 2022Embargo end date: 01 Jan 2019 Netherlands English Publisher:Elsevier BVJournal:Automatica, volume 135, page 109,999 (issn: 0005-1098,

Copyright policy )Funded by:DFG | unidentified

Authors: Thomas Berger; Marc Puche; Felix L. Schwenninger;

doi: 10.1016/j.automatica.2021.109999 , 10.48550/arxiv.1902.00586

arXiv: 1902.00586

Funnel control for a moving water tank

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Abstract

We study tracking control for a nonlinear moving water tank system modelled by the linearized Saint-Venant equations, where the output is given by the position of the tank and the control input is the force acting on it. For a given reference signal, the objective is that the tracking error evolves within a pre-specified performance funnel. Exploiting recent results in funnel control, this can be achieved by showing that inter alia the system's internal dynamics are bounded-input, bounded-output stable.

10 pages, the original version was revised and more details were added

Country

Netherlands

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Keywords

math.OC, Sloshing, Adaptive control, sloshing, well-posed systems, 93C20 (Primary) 35Q93, 47N70 (Secondary), adaptive control, Well-posed systems, 22/4 OA procedure, Linearizations, Funnel control, Adaptive control/observation systems, Optimization and Control (math.OC), Application models in control theory, Saint-Venant equations, FOS: Mathematics, Nonlinear systems in control theory, 47N70 (Secondary), funnel control, Mathematics - Optimization and Control, 93C20 (Primary) 35Q93

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