Dynamic Anti-Windup Controller Design for Linear Systems with Actuator Saturation

具有执行器饱和的线性系统的动态抗饱和控制器设计

基本信息

批准号：
14550226
负责人：
KANAMORI Mitsuru
金额：
$ 1.79万
依托单位：
Maizuru National College of Technology
依托单位国家：
日本
项目类别：
Grant-in-Aid for Scientific Research (C)
财政年份：
2002
资助国家：
日本
起止时间：
2002 至 2004
项目状态：
已结题

项目摘要

Control strategies for anti-windup asymptotic stabilization are developed for linear systems with input saturation based on the Lyapunov theory.First, an output feedback controller with an observer is proposed in order to achieve asymptotic tracking for linear systems with actuator saturation. The controller includes an internal model with an anti-windup term for the reference and disturbance signals and a state observer. The overall system is shown to be asymptotically stable for any initial condition of the system, as long as the magnitudes of the reference and disturbance signals are sized such that asymptotic tracking of the reference signal can be achieved without saturating the actuator.Next, the constant gain term in the conventional anti-windup controller is extended to have dynamics that are represented by a transfer function. The proposed compensator design method is an extension of Kothare's linear conditioning for a static anti-windup compensator. The effectiveness of the proposed method is demonstrated using a one -link flexible arm through simulations and experiments.Furthermore, a design method of model reference adaptive control is proposed in order to guarantee asymptotic tracking for linear systems with input saturation, while taking parameter variation into account. An anti-windup adaptive law is proposed for asymptotically stable and stable first- and second-order systems based on Lyapunov stability and Barbalat's Lemma. The effectiveness of the proposed method is demonstrated experimentally and through numerical simulations.

基于lyapunov理论的线性系统，为抗赢渐无稳定的控制策略开发出来。首先，提出了一个具有观察者的输出反馈控制器，以实现具有执行器饱和的线性系统的渐近跟踪。该控制器包括一个内部模型，该模型具有抗垃圾术语，用于参考和干扰信号和状态观察者。对于系统的任何初始条件，总体系统均无稳定，只要参考和干扰信号的幅度大小，因此可以实现参考信号的渐近跟踪，而无需饱和，而无需饱和，即使在传统的反弹药控制器中持续增益术语在传统的反磁性控制器中的恒定增益术语可以扩展到具有传递传输功能的动态。提出的补偿器设计方法是Kothare的静态抗打印补偿器的线性条件的扩展。通过模拟和实验，使用一个链接柔性臂证明了所提出的方法的有效性。提出，提出了一种模型参考自适应控制的设计方法，以保证具有输入饱和的线性系统的渐近跟踪，同时考虑参数变化。针对基于Lyapunov稳定性和Barbalat的引理的渐近稳定且稳定的一阶系统和二阶系统提出了一种反垃圾自适应定律。通过实验和数值模拟证明了所提出方法的有效性。

项目成果

期刊论文数量（10）

专著数量（0）

科研奖励数量（0）

会议论文数量（0）

专利数量（0）

Experimental Study on Dynamic Anti-Windup Error Regulator with Observer : A Flexible Robot Arm with Saturating Actuator

带观测器的动态抗饱和误差调节器的实验研究：带饱和执行器的柔性机械臂

DOI：
发表时间：
2002
期刊：
2nd IFAC Conference on Mechatronic Systems December 9-11, 2002, Berkeley, California, USA
影响因子：
0
作者：
Mitsuru Kanamori;Masayoshi Tomizuka
通讯作者：
Masayoshi Tomizuka

Model reference adaptive control of linear systems with input saturation

DOI：
10.1109/cca.2004.1387556
发表时间：
2004-09
期刊：
Proceedings of the 2004 IEEE International Conference on Control Applications, 2004.
影响因子：
0
作者：
M. Kanamori;M. Tomizuka
通讯作者：
M. Kanamori;M. Tomizuka

Dynamic Anti-Integrator-Windup Controller Design for Linear Systems

线性系统的动态抗积分饱和控制器设计