A two-controller architecture that uses a funnel controller to guarantee output constraints while a DeePC or EDMD-based predictive controller learns, permitting safe online data collection and tracking.
Control barrier functions: The- ory and applications
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Two-component controller design to safeguard data-driven predictive control
A two-controller architecture that uses a funnel controller to guarantee output constraints while a DeePC or EDMD-based predictive controller learns, permitting safe online data collection and tracking.