DocumentCode
815489
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
Volume
47
Issue
9
fYear
2002
fDate
9/1/2002 12:00:00 AM
Firstpage
1570
Lastpage
1575
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;
fLanguage
English
Journal_Title
Automatic Control, IEEE Transactions on
Publisher
ieee
ISSN
0018-9286
Type
jour
DOI
10.1109/TAC.2002.802739
Filename
1032321
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