An LQR/LQG theory for systems with saturating actuators

Gokcek, Cevat; Kabamba, Pierre T.; Meerkov, Semyon M.

doi:10.1109/9.956049

Cited by 72 publications

(32 citation statements)

References 37 publications

Supporting

Mentioning

Contrasting

Unclassified

Order By: Relevance

“…On the upper bound of control inputs: By the methodologies on designing LQG controllers for systems with bounded inputs, such as the quadratic programming approach [38] and the stochastic linearization method [39], one may obtain the impact of the upper bound U * on the LQG performance.…”

Section: ) Some Suggestionsmentioning

confidence: 99%

Interacting Multiple Model Estimator for Networked Control Systems: Stability, Convergence, and Performance

Lin

Lam

Chen

et al. 2019

IEEE Trans. Automat. Contr.

View full text Add to dashboard Cite

Abstract-In this paper, we study the interacting multiple model (IMM) estimator for networked control systems with packet loss but without packet acknowledgment (ACK). The ACK is a signal sent by the actuator to inform the estimator of whether control packets are lost or not. A system with ACK is usually called a TCP-like system; otherwise, it is called a UDPlike system. We show that the stability of the IMM estimator for UDP-like systems is determined by the observation packet arrival rate (p.a.r.) and is independent of the control p.a.r. and control inputs. The IMM estimator is stable if the observation p.a.r. is greater than a critical value. We show that this critical value is the same as the critical value for the stability of the optimal estimator for its corresponding TCP-like system. If control inputs eventually tend to zero, the error covariance of the IMM estimator converges to that of the optimal estimator for TCP-like systems. We characterize the impact of the control/observation p.a.r. and the control input on estimation performance. Finally, we prove that the average estimation performance of the IMM estimator approximates that of the optimal estimator within a finite bound, and is superior to that of the linear minimum mean square error estimator.

show abstract

Section: ) Some Suggestionsmentioning

confidence: 99%

Interacting Multiple Model Estimator for Networked Control Systems: Stability, Convergence, and Performance

Lin

Lam

Chen

et al. 2019

IEEE Trans. Automat. Contr.

View full text Add to dashboard Cite

show abstract

“…Numerical comparisons are made between the new results and the method in Gokcek, et al [2], where the actuator saturation considered is constant. We consider a platoon of 5 vehicles (see Fig.…”

Section: Numerical Examplementioning

confidence: 99%

Adaptive Control with Guaranteed Contraction Rate for Systems with Actuator Saturation

Guo

Yue

2012

Circuits Syst Signal Process

View full text Add to dashboard Cite

The problem of adaptive control of linear discrete-time systems with actuator saturation and unknown parameters is investigated. A novel optimal control method is presented first for linear systems with known parameters and constant actuator saturation by introducing a Lyapunov function and a performance cost function that are both dependent on a contraction rate parameter. Based on the obtained guaranteed contraction-rate control method, an adaptive control algorithm is derived for systems containing unknown system parameters and time-varying actuator saturation. To show that the closed-loop system is stable and that the adaptive control algorithm is convergent, the Lyapunov function is supplemented by an additional part defined by the trace of a quadratic function of the controller gain. The effectiveness and potential of the presented method is demonstrated by a numerical example.

show abstract

“…Most studies treat saturating actuators, e.g. [3], [4], but these researchers consider an essentially linear actuator, which has an amplitude limitation. Finally, [5] considers an electro servohydraulic valve, but linearises the static characteristic.…”

Section: Introductionmentioning

confidence: 99%

Actuator linearisation for multivariable control applications

Ringwood

dePaor

2009

2009 3rd International Conference on Signals, Circuits and Systems (SCS)

View full text Add to dashboard Cite

Abstract-Fixed speed actuators have a characteristic nonlinear transient response. While this may not present a problem for single-input, single-output (SISO) control systems containing such actuators, the mixture of different fixed speed actuators is usually problematic in multivariable control applications. This paper presents two methods which allow such nonlinear actuators to present a linear response and therefore allow their incorporation in linear multivariable control design methods. The first method is based on a closed-loop describing function approximation, while the second uses an equivalent nonlinearity concept to linearise the relay which represents the fixed-speed limitation. A simulation study, demonstrating the performance of both schemes in a multivariable control setting, is presented.

show abstract

An LQR/LQG theory for systems with saturating actuators

Cited by 72 publications

References 37 publications

Interacting Multiple Model Estimator for Networked Control Systems: Stability, Convergence, and Performance

Interacting Multiple Model Estimator for Networked Control Systems: Stability, Convergence, and Performance

Adaptive Control with Guaranteed Contraction Rate for Systems with Actuator Saturation

Actuator linearisation for multivariable control applications

Contact Info

Product

Resources

About