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Decentralized Approaches to Antiwindup Design with Application to Quadrotor Unmanned Aerial Vehicles

Decentralized Approaches to Antiwindup Design with Application to Quadrotor Unmanned Aerial Vehicles
Decentralized Approaches to Antiwindup Design with Application to Quadrotor Unmanned Aerial Vehicles

This paper considers the design of structured antiwindup (AW) compensators for open-loop stable plants that themselves have a particular structure: a diagonal dynamic part cascaded with a static invertible part. Two approaches to the design of such compensators are proposed. The first one is a pseudodecentralized AW compensator that is a direct extension of a similar scheme in the literature. The second approach allows the AW compensators to be designed individually for each control channel and, provided that a certain linear program is satisfied, allows the compensators to be implemented in such a way that the nonlinear closed loop is asymptotically stable. The design approaches are applied to a quadrotor UAV, which inspired the work, and results from both simulations and flight tests are reported.

Actuator saturation, aerospace applications, antiwindup (AW) compensator design, nonlinear control, quadrotor unmanned air vehicles (UAVs)
1063-6536
1980-1992
Ofodile, Nkemdilim A.
1ba30faf-4686-4afe-af8f-a6998c7a4ef9
Turner, Matthew C.
6befa01e-0045-4806-9c91-a107c53acba0
Ofodile, Nkemdilim A.
1ba30faf-4686-4afe-af8f-a6998c7a4ef9
Turner, Matthew C.
6befa01e-0045-4806-9c91-a107c53acba0

Ofodile, Nkemdilim A. and Turner, Matthew C. (2016) Decentralized Approaches to Antiwindup Design with Application to Quadrotor Unmanned Aerial Vehicles. IEEE Transactions on Control Systems Technology, 24 (6), 1980-1992, [7419247]. (doi:10.1109/TCST.2016.2521799).

Record type: Article

Abstract

This paper considers the design of structured antiwindup (AW) compensators for open-loop stable plants that themselves have a particular structure: a diagonal dynamic part cascaded with a static invertible part. Two approaches to the design of such compensators are proposed. The first one is a pseudodecentralized AW compensator that is a direct extension of a similar scheme in the literature. The second approach allows the AW compensators to be designed individually for each control channel and, provided that a certain linear program is satisfied, allows the compensators to be implemented in such a way that the nonlinear closed loop is asymptotically stable. The design approaches are applied to a quadrotor UAV, which inspired the work, and results from both simulations and flight tests are reported.

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More information

Accepted/In Press date: 1 February 2016
e-pub ahead of print date: 24 February 2016
Published date: 1 November 2016
Keywords: Actuator saturation, aerospace applications, antiwindup (AW) compensator design, nonlinear control, quadrotor unmanned air vehicles (UAVs)

Identifiers

Local EPrints ID: 438866
URI: http://eprints.soton.ac.uk/id/eprint/438866
ISSN: 1063-6536
PURE UUID: 00479a5e-69d9-42d3-9135-f4a9704da027

Catalogue record

Date deposited: 25 Mar 2020 17:51
Last modified: 09 Sep 2020 16:32

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Contributors

Author: Nkemdilim A. Ofodile
Author: Matthew C. Turner

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