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.Comment: 9 pages, 6 figures, submitted to 61st IEEE Conference on Decision and
Control 202