An Anti-Windup Design for Linear System With Asymptotic Tracking Subjected to Actuator Saturation

1998 ◽  
Vol 122 (2) ◽  
pp. 369-374 ◽  
Author(s):  
Weiguang Niu ◽  
Masayoshi Tomizuka
Keyword(s):  
Control System ◽  
Linear System ◽  
Linear Systems ◽  
Motion Control ◽  
Output Feedback ◽  
System Performance ◽  
Actuator Saturation ◽  
Lyapunov Stability Theory ◽  
Asymptotic Tracking ◽  
The Stability

This paper deals with asymptotic tracking for linear systems with actuator saturation in the presence of disturbances. Both reference inputs and disturbances are assumed to belong to a class which may be regarded as the zero-input responses of linear systems. The controller includes an anti-windup term which reduces the degradation in the system performance due to saturation. The stability of the overall system is established based on the Lyapunov stability theory. Both state and output feedback solutions are given. The proposed scheme is evaluated for a two axis motion control system by simulation. [S0022-0434(00)01002-9]

Robust Η∞ Fault-Tolerant for a Class of Networked Control System Based on Static Output Feedback

2014 ◽  
Vol 912-914 ◽  
pp. 1375-1378
Author(s):  
Zi Ping Wang
Keyword(s):  
Control System ◽  
Output Feedback ◽  
System Performance ◽  
Closed Loop ◽  
Fault Tolerant ◽  
Lyapunov Stability Theory ◽  
Networked Control System ◽  
Networked Control ◽  
The Impact ◽  
Static Output

This paperfocuses on the networked control system (NCS) with sensor and actuatorfailures, considering the impact of the network delay and parameter uncertaintyon system performance, We propose a design of robust Η∞ fault-tolerant control based on static outputfeedback .The closed- loop networked control system possessing asymptoticallystable is given by staticoutput feedback, fault-tolerantcontrol theory and Lyapunov stability theory. Then the fault-tolerant controller is deduced by using linear matrixinequalities. Numerical simulation illustrates the method has a good robustfault tolerant capability that the conclusions are valid.

scholarly journals Saturation Based Nonlinear FOPD Motion Control Algorithm Design for Autonomous Underwater Vehicle

2019 ◽  
Vol 9 (22) ◽  
pp. 4958 ◽  
Author(s):  
Lichuan Zhang ◽  
Lu Liu ◽  
Shuo Zhang ◽  
Sheng Cao
Keyword(s):  
Control System ◽  
Motion Control ◽  
Simple Structure ◽  
Autonomous Underwater Vehicle ◽  
Dynamic Performance ◽  
Dynamic Control ◽  
Algorithm Design ◽  
Underwater Vehicle ◽  
Motion Control System ◽  
The Stability

The application of Autonomous Underwater Vehicle (AUV) is expanding rapidly, which drives the urgent need of its autonomy improvement. Motion control system is one of the keys to improve the control and decision-making ability of AUVs. In this paper, a saturation based nonlinear fractional-order PD (FOPD) controller is proposed for AUV motion control. The proposed controller is can achieve better dynamic performance as well as robustness compared with traditional PID type controller. It also has the advantages of simple structure, easy adjustment and easy implementation. The stability of the AUV motion control system with the proposed controller is analyzed through Lyapunov method. Moreover, the controlled performance can also be adjusted to satisfy different control requirements. The outperformed dynamic control performance of AUV yaw and depth systems with the proposed controller is shown by the set-point regulation and trajectory tracking simulation examples.

Energy-based output feedback control of the underactuated 2DTORA system with saturated inputs

2020 ◽  
Vol 42 (14) ◽  
pp. 2822-2829
Author(s):  
Kexin Xu ◽  
Xianqing Wu ◽  
Miao Ma ◽  
Yibo Zhang
Keyword(s):  
Feedback Control ◽  
Lyapunov Function ◽  
Output Feedback ◽  
Control Method ◽  
Actuator Saturation ◽  
Output Feedback Control ◽  
Lyapunov Theory ◽  
Velocity Signal ◽  
Feedback Control Method ◽  
The Stability

In this paper, we consider the control issues of the two-dimensional translational oscillator with rotational actuator (2DTORA) system, which has two translational carts and one rotational rotor. An output feedback controller for the 2DTORA system is proposed, which can prevent the unwinding behaviour. In addition, the velocity signal unavailability and actuator saturation are taken into account, simultaneously. In particular, the dynamics of the 2DTORA system are given first. On the basis of the passivity and control objectives of the 2DTORA system, an elaborate Lyapunov function is constructed. Then, based on the introduced Lyapunov function, a novel output feedback control method is proposed straightforwardly for the 2DTORA system. Lyapunov theory and LaSalle’s invariance principle are utilized to analyse the stability of the closed-loop system and the convergence of the states. Finally, simulation results are provided to illustrate the excellent control performance of the proposed controller in comparison with the existing method.

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