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

arXiv: https://arxiv.org/abs/2312.04380 · HTML: https://mlsanity.com/paper/2312.04380/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 7 Dec 2023.

## Built on by (most cited first, 1 of 1)

- [Reinforcement Learning for Docking Maneuvers with Prescribed Performance](https://mlsanity.com/paper/2402.08306/) (2024)

## Abstract (arXiv)

Current engineering design trends, such as light-weight machines and humanmachine-interaction, often lead to underactuated systems. Output trajectory tracking of such systems is a challenging control problem. Here, we use a twodesign-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.