A receding-horizon optimizer over two funnel parameters is layered on top of a finite-time funnel feedback law, with proofs of recursive feasibility and asymptotic stabilization.
Asymptotic tracking via funnel control,
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On Model Predictive Funnel Control with Equilibrium Endpoint Constraints
A receding-horizon optimizer over two funnel parameters is layered on top of a finite-time funnel feedback law, with proofs of recursive feasibility and asymptotic stabilization.