Anti-windup design for input-coupled double integrator systems with application to quadrotor UAV's
Anti-windup design for input-coupled double integrator systems with application to quadrotor UAV's
This paper describes the development of an anti-windup scheme for systems which consist of a parallel set of double integrators preceded by a static coupling element and a saturation nonlinearity. A class of anti-windup compensators are proposed which can guarantee global asymptotic stability of the origin of the closed-loop system. Simple linear-like guidelines for choosing the anti-windup compensator parameters are also given. The anti-windup compensator designs are evaluated on a quadrotor unmanned aerial vehicle. Simulation results and flight tests are presented to demonstrate the effectiveness of this approach.
Actuator saturation, Aerospace applications, Antiwindup (AW) compensator design, Nonlinear control, Quadrotor unmanned air vehicles (UAVs)
22-31
Ofodile, Nkemdilim A.
1ba30faf-4686-4afe-af8f-a6998c7a4ef9
Turner, Matthew C.
6befa01e-0045-4806-9c91-a107c53acba0
1 November 2017
Ofodile, Nkemdilim A.
1ba30faf-4686-4afe-af8f-a6998c7a4ef9
Turner, Matthew C.
6befa01e-0045-4806-9c91-a107c53acba0
Ofodile, Nkemdilim A. and Turner, Matthew C.
(2017)
Anti-windup design for input-coupled double integrator systems with application to quadrotor UAV's.
European Journal of Control, 38, .
(doi:10.1016/j.ejcon.2017.07.002).
Abstract
This paper describes the development of an anti-windup scheme for systems which consist of a parallel set of double integrators preceded by a static coupling element and a saturation nonlinearity. A class of anti-windup compensators are proposed which can guarantee global asymptotic stability of the origin of the closed-loop system. Simple linear-like guidelines for choosing the anti-windup compensator parameters are also given. The anti-windup compensator designs are evaluated on a quadrotor unmanned aerial vehicle. Simulation results and flight tests are presented to demonstrate the effectiveness of this approach.
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More information
Accepted/In Press date: 21 July 2017
e-pub ahead of print date: 10 August 2017
Published date: 1 November 2017
Keywords:
Actuator saturation, Aerospace applications, Antiwindup (AW) compensator design, Nonlinear control, Quadrotor unmanned air vehicles (UAVs)
Identifiers
Local EPrints ID: 438971
URI: http://eprints.soton.ac.uk/id/eprint/438971
ISSN: 0947-3580
PURE UUID: 9c3b915d-7d74-4bfb-ad77-4a191ae51fbe
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Date deposited: 30 Mar 2020 16:31
Last modified: 16 Mar 2024 06:55
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Author:
Nkemdilim A. Ofodile
Author:
Matthew C. Turner
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