Control of Linear Multivariable Systems Subject to Input Saturation

几乎每个物理系统在其控制信号或执行器上都有最大和最小限制，或者称为饱和。设计具有饱和输入的线性系统的反馈规律是一项非常复杂和具有挑战性的任务。也许由于这种复杂性，在大多数现代控制文献中，执行器饱和的影响被忽略了。本提案旨在开发具有饱和执行器的系统的分析和设计工具。我们的初步工作表明，半全局框架是设计此类系统的自然和理想的框架。我们最近的努力也表明了设计具有饱和执行器的系统的强大技术的出现。本提案的重点是一些中心和基本的控制问题，系统与饱和执行器。鲁棒半全局镇定问题、鲁棒半全局抗干扰问题和半全局输出调节与跟踪问题是必须解决的问题。＊＊＊

9410897 Saberi Almost every physical system has maximum and minimum limits or otherwise called saturation on its control signal or actuator. The task of designing feedback laws for linear systems with saturating inputs is very complex and challenging. Perhaps due to this complexity, the effect of saturation of actuators has been ignored in most of the modern control literature. This proposal seeks to develop both the analysis and design tools for systems with saturating actuators. Our initial work shows that a semi-global framework is a natural and desirable framework for the design of such systems. Our recent effort also indicates the emergence of powerful techniques for designing systems with saturating actuators. This proposal focuses on some of the central and fundamental control problems for systems with saturating actuators. Among the many problems which must be confronted are: robust semi- global stabilization, robust semi-global disturbance rejection and semi-global output regulation and tracking. ***