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
fDate :
9/1/2002 12:00:00 AM
Abstract :
We present controller design methods to smooth the discontinuity resulting from a piecewise linear control 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 :
continuous time systems; control system synthesis; feedback; linear systems; piecewise linear techniques; PUMA 560 robot model; bounded continuous feedback laws; continuous control laws; controller design methods; convergence performance; performance improvement; piecewise linear control law; Control systems; Convergence; Design methodology; Ellipsoids; Linear feedback control systems; Linear systems; Piecewise linear techniques; Programmable control; Robots; Switches;
Journal_Title :
Automatic Control, IEEE Transactions on
DOI :
10.1109/TAC.2002.802739
