Static anti-windup design for discrete-time large-scale cross-directional saturated linear control systems

Queinnec, Isabelle; Tarbouriech, Sophie; Gayadeen, Sandira; Zaccarian, Luca

doi:10.1109/cdc.2015.7402720

Cited by 2 publications

(2 citation statements)

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“…In this section we provide a constructive solution to Problem 1 by exploiting an extension of the well-known generalized sector condition (see, e.g., [13]), which is adapted from [5].…”

Section: B Fixed-dynamics Aw Compensator Synthesismentioning

confidence: 99%

“…Directionality issues are commonly tackled in the literature about quadrotors by using iterative thrust-mixing schemes that prioritize roll-pitch control over thrust and yaw [1], [2]. While Anti-Windup (AW) augmentation designs with formal stability and performance guarantees have been developed in recent years for directionality compensation [3], [4], [5], the specific case of quadrotors has been dealt with in a systematic manner only in [6], which proposed full-order pseudo-decentralized {pietro.ghignoni,nicolo1.buratti}@mail.polimi.it, {davide.invernizzi, marco.lovera}@polimi.it and channel-by-channel AW compensators by extending the AW approach of [7].…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Anti-windup design for directionality compensation with application to quadrotor UAVs

Ghignoni

Buratti

Invernizzi

et al. 2020

IEEE Control Syst. Lett.

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In this paper we propose an anti-windup strategy to counteract directionality effects arising in saturated MIMO systems in which independent dynamical subsystems are coupled through a static mixing of the inputs. Since such systems are affected by undesired input cross-couplings when saturation occurs, we propose an anti-windup augmentation scheme built on top of the baseline controller and tailored to achieve satisfactory timedomain performance for reference signals of interest. Motivated by the quadrotor application, in which position control has higher priority over yaw control for safety reasons, we embed in the antiwindup synthesis procedure the possibility to prioritize the level of performance degradation during saturation for the different system outputs.

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“…In this section we provide a constructive solution to Problem 1 by exploiting an extension of the well-known generalized sector condition (see, e.g., [13]), which is adapted from [5].…”

Section: B Fixed-dynamics Aw Compensator Synthesismentioning

confidence: 99%