An anti-windup design for the asymptotic tracking of linear system subjected to actuator saturation

Author

Niu, Weiguang ; Tomizuka, Masayoshi

Author_Institution

Dept. of Mech. Eng., California Univ., Berkeley, CA, USA

Volume

3

fYear

1998

fDate

21-26 Jun 1998

Firstpage

1458

Abstract

Deals with asymptotic tracking of linear systems with actuator saturation in the presence of disturbances. Both reference inputs and disturbances are assumed to belong to a class which may be regarded as the zero-input response of a linear system. The controller includes an anti-windup term which reduces the degradation in the system performance due to saturation. The stability of the overall system is established based on the Lyapunov stability theory. The proposed scheme is evaluated for a two axis motion control system by simulation

Keywords

Lyapunov methods; actuators; control nonlinearities; control system synthesis; linear systems; motion control; state feedback; Lyapunov stability theory; actuator saturation; anti-windup design; asymptotic tracking; linear system; two axis motion control system; zero-input response; Control systems; Eigenvalues and eigenfunctions; Hydraulic actuators; Linear systems; Mechanical engineering; Open loop systems; Stability; State feedback; Trajectory; Windup;

fLanguage

English

Publisher

ieee

Conference_Titel

American Control Conference, 1998. Proceedings of the 1998

Conference_Location

Philadelphia, PA

ISSN

0743-1619

Print_ISBN

0-7803-4530-4

Type

conf

DOI

10.1109/ACC.1998.707067

Filename

707067