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Combined static and dynamic antiwindup architecture with application to quadcopters experiencing large disturbances

Combined static and dynamic antiwindup architecture with application to quadcopters experiencing large disturbances
Combined static and dynamic antiwindup architecture with application to quadcopters experiencing large disturbances

This paper proposes a composite anti-windup design approach, featuring both dynamic and static components. The extra static component is specially structured to limit classical integrator wind-up, and is useful in nonlinear systems which operate far from their design operating point. An approach for stability analysis and design of the combined scheme is also provided. The work was motivated by the need to stabilise quadcopters subject to large disturbances, and excerpts from an extensive simulation campaign are reported. The simulations indicate that the combination of dynamic and static terms provide stability for significantly larger disturbances than either static or dynamic anti-windup alone.

2915-2921
Institute of Electrical and Electronics Engineers Inc.
Richards, Christopher M.
a0d5a41c-c271-4583-9471-74c758c50ba6
Turner, Matthew C.
6befa01e-0045-4806-9c91-a107c53acba0
Richards, Christopher M.
a0d5a41c-c271-4583-9471-74c758c50ba6
Turner, Matthew C.
6befa01e-0045-4806-9c91-a107c53acba0

Richards, Christopher M. and Turner, Matthew C. (2019) Combined static and dynamic antiwindup architecture with application to quadcopters experiencing large disturbances. In 2019 American Control Conference, ACC 2019. vol. 2019-July, Institute of Electrical and Electronics Engineers Inc. pp. 2915-2921 . (doi:10.23919/ACC.2019.8814827).

Record type: Conference or Workshop Item (Paper)

Abstract

This paper proposes a composite anti-windup design approach, featuring both dynamic and static components. The extra static component is specially structured to limit classical integrator wind-up, and is useful in nonlinear systems which operate far from their design operating point. An approach for stability analysis and design of the combined scheme is also provided. The work was motivated by the need to stabilise quadcopters subject to large disturbances, and excerpts from an extensive simulation campaign are reported. The simulations indicate that the combination of dynamic and static terms provide stability for significantly larger disturbances than either static or dynamic anti-windup alone.

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More information

Published date: 1 July 2019
Venue - Dates: 2019 American Control Conference, ACC 2019, United States, 2019-07-09 - 2019-07-11

Identifiers

Local EPrints ID: 439213
URI: http://eprints.soton.ac.uk/id/eprint/439213
PURE UUID: d2d386c5-1caa-4829-be63-7b5d4b256bfa

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Date deposited: 07 Apr 2020 16:30
Last modified: 07 Apr 2020 16:30

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Contributors

Author: Christopher M. Richards
Author: Matthew C. Turner

University divisions

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