In this brief, we present and validate an antiwindup (AW) control design suitable to deal with saturated discrete-time linear plants. Following the modern approach to AW design, the proposed synthesis procedure is based on the compensator paradigm in which the AW controller acts on top of a baseline one, tuned to achieve desirable performance in the unsaturated regime. After extending existing ideas for continuous-time plants to their discrete-time counterparts, the design of the AW compensator is carried out with a focus on computational efficiency and optimized performance in practical operating scenarios. The proposed approach allows one to design fixed-dynamics AW compensators for possibly open-loop unstable plants using generalized sector conditions. Then, the synthesis procedure is applied to tune a fixed-dynamics compensator having the structure of a static compensator cascaded with a unit delay to avoid algebraic loops. Finally, the benefits of such AW augmentation are assessed experimentally to counteract windup effects arising in the position control of multirotor unmanned aerial vehicles (UAVs) when pitch limitations are imposed.
Fixed-Dynamics Antiwindup Design: Application to Pitch-Limited Position Control of Multirotor Unmanned Aerial Vehicles
Invernizzi, Davide;Lovera, Marco
2021-01-01
Abstract
In this brief, we present and validate an antiwindup (AW) control design suitable to deal with saturated discrete-time linear plants. Following the modern approach to AW design, the proposed synthesis procedure is based on the compensator paradigm in which the AW controller acts on top of a baseline one, tuned to achieve desirable performance in the unsaturated regime. After extending existing ideas for continuous-time plants to their discrete-time counterparts, the design of the AW compensator is carried out with a focus on computational efficiency and optimized performance in practical operating scenarios. The proposed approach allows one to design fixed-dynamics AW compensators for possibly open-loop unstable plants using generalized sector conditions. Then, the synthesis procedure is applied to tune a fixed-dynamics compensator having the structure of a static compensator cascaded with a unit delay to avoid algebraic loops. Finally, the benefits of such AW augmentation are assessed experimentally to counteract windup effects arising in the position control of multirotor unmanned aerial vehicles (UAVs) when pitch limitations are imposed.File | Dimensione | Formato | |
---|---|---|---|
GHIGP_OA_03-20.pdf
Open Access dal 23/12/2020
Descrizione: Paper Open Access
:
Post-Print (DRAFT o Author’s Accepted Manuscript-AAM)
Dimensione
783.39 kB
Formato
Adobe PDF
|
783.39 kB | Adobe PDF | Visualizza/Apri |
GHIGP01-21.pdf
Accesso riservato
Descrizione: Paper
:
Publisher’s version
Dimensione
897.84 kB
Formato
Adobe PDF
|
897.84 kB | Adobe PDF | Visualizza/Apri |
I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.