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

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.
Anti-windup design, saturated MIMO systems, directionality, quadrotor, DLAW
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11311/1142161
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