Funnel Control for Relative Degree One Nonlinear Systems With Input Saturation

The dilemma between transient behavior and accuracy in tracking control arises in both theoretical research and engineering practice and funnel control has shown great potential in solving that problem. Apart from the controlled system, the performance of funnel control strongly depends on the reference signal and the choice of prescribed funnel boundary. In this paper, we will present a new form of funnel controller for systems with control saturation. Compared to former research, the new controller is more reliable, and the closed-loop system can even achieve asymptotic tracking. Besides that, a new concept called constrained funnel bound-ary is introduced. Together with the new controller and the constrained funnel boundary, the application range of funnel control is extended significantly.