Disturbance‐observer based antiwindup control for singularly perturbed switched systems

Abstract

This article investigates the antiwindup control problem for a class of saturated singularly perturbed switched systems (SPSSs) with external disturbances. A novel antiwindup control architecture is first devised for the SPSSs by using the disturbance observer technique, which contains a state feedback controller, an antiwindup compensator and a disturbance observer. By constructing a singular perturbation parameter (SPP) dependent Lyapunov function, a set invariance condition is established, under which the antiwindup controller gain matrices can be derived, for any SPP less than or equal to a predefined upper bound. An optimization algorithm is formulated to enlarge the invariant set to reduce conservativeness. Then, an optimization problem is proposed in order to improve the disturbance refection ability. Moreover, the explicit parameterization of the disturbance rejection capacity is given by the solutions to a set of optimization algorithms with a guaranteed basin of attraction. Finally, a numerical example is provided to verify the effectiveness of the proposed antiwindup control strategy.

Disturbance Observer-Based Anti-Windup Control for Path-Following of Underactuated AUVs via Singular Perturbations: Theory and Experiment

“…As a result, the position and yaw angle might extremely vibrate at the beginning (see Figs. 19,20,22,23).…”

“…In a geometric view, control law (19) aims to drive the state variables to manifold . Then, assuming the fast variable has reached its equilibrium, subsystem ( 17) is asymptotically stable by selecting a virtual feedback control law (20) where…”

“…The latter is composed of two stages to handle the performance and the windup, respectively. Singularly perturbed systems with actuator saturation have been studied by many researchers [20]- [22]. However, the design and analysis for singularly perturbed systems subject to unknown disturbance and actuator saturation usually are very complex, which holds back its application gravely.…”

Disturbance observer-based fixed-time control for nonlinear systems with multiple disturbances

“…In Ahmed et al (2021), for system in the presence of disturbance, the asymptotic stability was achieved by utilizing DOBC method. In Chen et al (2021) and Zhou et al (2021), DOBC tactics were put forward for systems subject to external disturbance (ED), where the ED was modeled as a linear exogenous system. Furthermore, for the system with multiple disturbances, composite hierarchical anti-disturbance control (CHADC) tactics were presented via a combination of DOBC scheme and other control tactics (Kaviarasan et al, 2020; Yao et al, 2022; Zhang et al, 2018).…”

Switching Anti-Windup Design for Discrete-Time Switched Systems Under Input Saturation

“…The stabilization problem of impulsive switched systems with saturated control input has been studied under arbitrary and dwell time switching rules in [31]. In [32], a singular perturbation parameter dependent Lyapunov function has been designed for a class of saturated singularly perturbed switched systems. An observer-based output feedback control method was proposed in [33] based on the parallel distributed compensation technique.…”