# Funnel Control Under Hard and Soft Output Constraints (extended version)

arXiv: https://arxiv.org/abs/2208.02006 · HTML: https://mlsanity.com/paper/2208.02006/

## Key facts

- Cited by 2 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 3 Aug 2022.

## Built on by (most cited first, 2 of 2)

- [Reinforcement Learning for Docking Maneuvers with Prescribed Performance](https://mlsanity.com/paper/2402.08306/) (2024)
- [Learning from Demonstration via Spatiotemporal Tubes for Unknown Euler-Lagrange Systems](https://mlsanity.com/paper/2607.00534/) (2026)

## Abstract (arXiv)

This paper proposes a funnel control method under time-varying hard and soft output constraints. First, an online funnel planning scheme is designed that generates a constraint consistent funnel, which always respects hard (safety) constraints, and soft (performance) constraints are met only when they are not conflicting with the hard constraints. Next, the prescribed performance control method is employed for designing a robust low-complexity funnel-based controller for uncertain nonlinear Euler-Lagrangian systems such that the outputs always remain within the planned constraint consistent funnels. Finally, the results are verified with a simulation example of a mobile robot tracking a moving object while staying in a box-constrained safe space.