Title :
On improving the performance with bounded continuous feedback laws
Author :
Hu, Tingshu ; Lin, Zongli
Author_Institution :
Dept. of Electr. & Comput. Eng., Virginia Univ., Charlottesville, VA, USA
Abstract :
We present controller design methods to smoothen the discontinuity resulting from a piecewise linear control (PLC) law which was proposed to improve the convergence performance for systems with input constraints. The continuous control laws designed in this paper are explicit functions of the state and are easily implementable. We also show that the convergence performance can be further improved by using a saturated high gain feedback law. The efficiency of the proposed methods is illustrated with the PUMA 560 robot model.
Keywords :
control system synthesis; controllers; convergence; feedback; linear systems; robot kinematics; PUMA 560 robot model; bounded continuous feedback laws; continuous control laws; controller design methods; convergence performance; discontinuity; gain feedback law; performance; piecewise linear control law; Control systems; Convergence; Design methodology; Ellipsoids; Feedback; Performance gain; Programmable control; Riccati equations; Strain control; Switches;
Conference_Titel :
Decision and Control, 2002, Proceedings of the 41st IEEE Conference on
Print_ISBN :
0-7803-7516-5
DOI :
10.1109/CDC.2002.1185091
