In this letter we propose an anti-windup strategy to counteract directionality effects arising in saturated MIMO systems in which independent dynamical subsystems are coupled through a static mixing of the inputs. Since such systems are affected by undesired input cross-couplings when saturation occurs, we propose an anti-windup augmentation scheme built on top of the baseline controller and tailored to achieve satisfactory time-domain performance for reference signals of interest. Motivated by the quadrotor application, in which position control has higher priority over yaw control for safety reasons, we embed in the anti-windup synthesis procedure the possibility to prioritize the level of performance degradation during saturation for the different system outputs.
Anti-windup design for directionality compensation with application to quadrotor UAVs
Invernizzi, Davide;Lovera, Marco
2021-01-01
Abstract
In this letter we propose an anti-windup strategy to counteract directionality effects arising in saturated MIMO systems in which independent dynamical subsystems are coupled through a static mixing of the inputs. Since such systems are affected by undesired input cross-couplings when saturation occurs, we propose an anti-windup augmentation scheme built on top of the baseline controller and tailored to achieve satisfactory time-domain performance for reference signals of interest. Motivated by the quadrotor application, in which position control has higher priority over yaw control for safety reasons, we embed in the anti-windup synthesis procedure the possibility to prioritize the level of performance degradation during saturation for the different system outputs.File | Dimensione | Formato | |
---|---|---|---|
GHIGP01-20.pdf
Accesso riservato
Descrizione: Paper
:
Publisher’s version
Dimensione
1.16 MB
Formato
Adobe PDF
|
1.16 MB | Adobe PDF | Visualizza/Apri |
GHIGP_OA_01-20.pdf
Open Access dal 13/06/2020
Descrizione: Paper Open Access
:
Post-Print (DRAFT o Author’s Accepted Manuscript-AAM)
Dimensione
666.67 kB
Formato
Adobe PDF
|
666.67 kB | Adobe PDF | Visualizza/Apri |
I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.