A chronological bibliography on saturating actuators

Bernstein, Dennis S.; Michel, Anthony N.

doi:10.1002/rnc.4590050502

Cited by 510 publications

(152 citation statements)

References 105 publications

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“…This often produces a degradation of performance in terms of undesirable oscillations and even instability. Control schemes that deal with this effect are called anti-windup schemes (Bernstein and Michel, 1995). If a linear controller C(s) is minimum phase and biproper (as in the case of a PI and PID controller), then anti-windup can be achieved simply by implementation (Goodwin et al, 2001).…”

Section: Constrained Control Via Input Scalingmentioning

confidence: 99%

Constrained Control Design for Dynamic Positioning of Marine Vehicles with Control Allocation

Pérez¹,

Donaire²

2009

MIC

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In this paper, we address the control design problem of positioning of over-actuated marine vehicles with control allocation. The proposed design is based on a combined position and velocity loops in a multi-variable anti-windup implementation together with a control allocation mapping. The vehicle modelling is considered with appropriate simplifications related to low-speed manoeuvring hydrodynamics and vehicle symmetry. The control design is considered together with a control allocation mapping. We derive analytical tuning rules based on requirements of closed-loop stability and performance. The antiwindup implementation of the controller is obtained by mapping the actuator-force constraint set into a constraint set for the generalized forces. This approach ensures that actuation capacity is not violated by constraining the generalized control forces; thus, the control allocation is simplified since it can be formulated as an unconstrained problem. The mapping can also be modified on-line based on actuator availability to provide actuator-failure accommodation. We provide a proof of the closed-loop stability and illustrate the performance using simulation scenarios for an open-frame underwater vehicle.

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Section: Constrained Control Via Input Scalingmentioning

confidence: 99%

Constrained Control Design for Dynamic Positioning of Marine Vehicles with Control Allocation

Pérez¹,

Donaire²

2009

MIC

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“…1). We stimulate both systems with an [1, 1, 1] T , [5,11,3] T -admissible reference signal. The reference/output signals and control signals are reported in Figs.…”

Section: Simulation Studiesmentioning

confidence: 99%

“…A classical example for the detrimental effect of neglecting constraints is the Chernobyl nuclear power plant disaster in 1986. Therefore, design of controllers for systems with hard constraints is a quite vivid area of research, see for example the recent books [1,2] or special issues [3,4] and the references therein. The problem has been addressed within the Model Predictive Control community, see [5], and another popular approach is to use so-called Anti Windup Bumpless Transfer schemes, see [6,7] for instance.…”

Section: Introductionmentioning

confidence: 99%

Loop shaping of multivariable systems with hard constraints on the control signal

Reinelt¹

2001

Electrical Engineering

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A general framework for the design of multivariable control systems subject to hard constraints on each control channel is developed. The design procedure is based on the H ∞ Loop Shaping and relies on the calculation of the maximum possible control amplitude for a class of reference signals, bounded in amplitude and rate. Special attention is given to adjustment of the design weights in order to meet prescribed bounds on each control signal. A simulation example, the control of the vertical dynamics of an aircraft, illustrates the suggested procedure.

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“…Due to the existence of saturation nonlinearity can degrade systems performance or even cause instability of closedloop systems, systems with actuator saturation have raised great research interest in the communities of both control theory and engineering [1,2,3]. For a linear system with input saturation, the analysis and synthesis conditions have been developed extensively (see [4] and the references therein).…”

Section: Introductionmentioning

confidence: 99%

Gain-scheduling control of T-S fuzzy systems with actuator saturation

Liu

Ban

et al. 2017

IFS

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Abstract. This paper presents a gain-scheduling output feedback control design method for T-S fuzzy systems with actuator saturation. Different from existing control design methods for T-S fuzzy systems, the basic idea of the proposed approach is to transform the T-S fuzzy model with saturation nonlinearity into the form of linear fractional transformation (LFT). Instead of commonly used fuzzy controllers, a gain-scheduled output feedback controller in the LFT form is introduced to stabilize the saturated T-S fuzzy system with guaranteed H∞ performance. The problem of establishing regional stability and performance of the closed-loop nonlinear system are tackled by using robust control techniques. As a result, the conservatism introduced by dealing with the quadratic terms of normalized fuzzy weighting functions can be avoided. The proposed controller synthesis problem is cast as a convex optimization in terms of linear matrix inequalities (LMIs) and can be solved efficiently. An example of balancing the inverted pendulum with bounded actuation is provided to illustrate the effectiveness of the proposed design method.

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A chronological bibliography on saturating actuators

Cited by 510 publications

References 105 publications

Constrained Control Design for Dynamic Positioning of Marine Vehicles with Control Allocation

Constrained Control Design for Dynamic Positioning of Marine Vehicles with Control Allocation

Loop shaping of multivariable systems with hard constraints on the control signal

Gain-scheduling control of T-S fuzzy systems with actuator saturation

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