An analysis and design method for linear systems under nested saturation

Bateman, Alec J.; Lin, Zongli

doi:10.1109/acc.2002.1023182

Cited by 24 publications

(67 citation statements)

References 14 publications

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“…Considering Remark 5: It should be pointed out that, during the review process of this note, a conference paper addressing the problem of linear systems with nested saturations has been published [18]. It appears that the approach proposed in that paper (similar, in the principle, to our first results concerning the rate saturation problem published in [19]) can provide a way of avoiding the nonlinearities and the relaxation schemes, by a direct LMI formulation.…”

Section: If a Linear Solution For Problem 1 Is Desired That Is If Omentioning

confidence: 97%

“…However, up to now, it is unknown how to find these subspaces. Two other different interesting methods that have been proposed in the past for finding all isolated solutions to a system of polynomial constraints over real numbers are interval methods (see, e.g., [17] for references) and continuation methods (see, e.g., [12] and [18]). Continuation methods have been shown to be effective for problems for which the total degree is not too high, since the number of paths explored depends on the estimation of the number of solutions.…”

Section: If a Linear Solution For Problem 1 Is Desired That Is If Omentioning

confidence: 99%

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Local stabilization of linear systems under amplitude and rate saturating actuators

Silva

Tarbouriech

García

2003

IEEE Trans. Automat. Contr.

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Abstract-This note addresses the problem of local stabilization of linear systems subject to control amplitude and rate saturation. Considering the actuator represented by a first-order system subject to input and state saturation, a condition for the stabilization of an a priori given set of admissible initial states is formulated from certain saturation nonlinearities representation and quadratic stability results. From this condition, an algorithm based on the iterative solution of linear matrix inequalities-based problems is proposed in order to compute the control law.

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Section: If a Linear Solution For Problem 1 Is Desired That Is If Omentioning

confidence: 97%

Section: If a Linear Solution For Problem 1 Is Desired That Is If Omentioning

confidence: 99%

Local stabilization of linear systems under amplitude and rate saturating actuators

Silva

Tarbouriech

García

2003

IEEE Trans. Automat. Contr.

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“…This estimate is then used to guide simulation-based stability analyses. An extension of these methods for nested saturations (i.e., involving simultaneous position and rate saturations) was developed for continuous 21 and discrete-time 22 linear systems. Integrated analysis and simulation-based methods for robustness and worst case analysis were developed to facilitate evaluation under off-nominal conditions.…”

Section: 19mentioning

confidence: 99%

Validation and Verification of Future Integrated Safety- Critical Systems Operating under Off-Nominal Conditions

Belcastro

2010

AIAA Guidance, Navigation, and Control Conference

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Loss of control remains one of the largest contributors to aircraft fatal accidents worldwide. Aircraft loss-of-control accidents are highly complex in that they can result from numerous causal and contributing factors acting alone or (more often) in combination. Hence, there is no single intervention strategy to prevent these accidents and reducing them will require a holistic integrated intervention capability. Future onboard integrated system technologies developed for preventing loss of vehicle control accidents must be able to assure safe operation under the associated off-nominal conditions. The transition of these technologies into the commercial fleet will require their extensive validation and verification (V&V) and ultimate certification. The V&V of complex integrated systems poses major nontrivial technical challenges -particularly for safety-critical operation under highly offnominal conditions associated with aircraft loss-of-control events. This paper summarizes the V&V problem and presents a proposed process that could be applied to complex integrated safety-critical systems developed for preventing aircraft loss-of-control accidents. A summary of recent research accomplishments in this effort is also provided.

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“…The contributions of this paper can be summarized as follows: the theories of convex hull [12] and perturbed matrix [13] are used to prove the stability of the multi-UAV system, which transforms the stability problem of a nonlinear system (caused by the saturated controller) into the stability problem of a linear time-varying system. Additionally, the common Lyapunov function approach is used to prove the stability of the multi-quadrotor system with arbitrary switching topology.…”

mentioning

confidence: 99%

Leader-follower formation saturated control for multiple quadrotors with switching topology

Hou

Fantoni

2015

2015 Workshop on Research, Education and Development of Unmanned Aerial Systems (RED-UAS)

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Abstract-This paper presents a distributed saturated formation control for a multiple quadrotors (UAVs) system with leader-follower structure. Each UAV has local and limited neighbors. Stability analysis for the multi-UAV system with fixed and switching topology is given, using the theories of convex hull and perturbed matrix. Simulation results show that the quadrotors with the proposed strategy can achieve consensus in presence of changeable leaders with switching topology. The real-time experiment shows that the quadrotors can track the desired formation trajectory by using the proposed formation strategy.

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An analysis and design method for linear systems under nested saturation

Cited by 24 publications

References 14 publications

Local stabilization of linear systems under amplitude and rate saturating actuators

Local stabilization of linear systems under amplitude and rate saturating actuators

Validation and Verification of Future Integrated Safety- Critical Systems Operating under Off-Nominal Conditions

Leader-follower formation saturated control for multiple quadrotors with switching topology

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