Author

Panagiotis S. Trakas

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Jul 2026

Learning Input-Constrained Funnel Controllers from State Trajectory Data

This work synthesizes a prescribed performance controller by combining nominal model compensation with a learned state-dependent feedback gain and establishes two complementary guarantees: a semi-global conservative actuator-authority-based certificate for prescribed performance and input satisfaction, and a local data...

Panagiotis S. Trakas, Omid Mirzaeedodangeh, L. Lindemann · arXiv.org · 0 citations

Preprint Aug 2026

Output Feedback Adaptive Performance Control

In this paper, we consider uncertain high-order nonlinear systems performing dynamic tracking tasks under hard actuator constraints, where only the output error is available for measurement, while the system states and the desired trajectory derivatives are unavailable for feedback. We propose a robust output-feedback...

Panagiotis S. Trakas, Charalampos P. Bechlioulis · 0 citations