This letter deals with the design of a novel adaptive bounded integral control (BIC) with enhanced anti-windup properties for systems with saturated actuators. Specifically, the BIC is re-designed improving its capability of desaturation after reaching the input bounds. Moreover, by adapting its characteristic curve, the proposed BIC is capable of taking into account time-varying bounds for the actuator saturation. The stability properties of the proposed approach are rigorously analyzed by relying on the Lyapunov theory. Simulation results, carried out by considering the cruising control problem of a platoon of vehicles, are finally shown to assess the proposal.
Adaptive bounded integral control with enhanced anti-windup design
Incremona, Gian Paolo;
2023-01-01
Abstract
This letter deals with the design of a novel adaptive bounded integral control (BIC) with enhanced anti-windup properties for systems with saturated actuators. Specifically, the BIC is re-designed improving its capability of desaturation after reaching the input bounds. Moreover, by adapting its characteristic curve, the proposed BIC is capable of taking into account time-varying bounds for the actuator saturation. The stability properties of the proposed approach are rigorously analyzed by relying on the Lyapunov theory. Simulation results, carried out by considering the cruising control problem of a platoon of vehicles, are finally shown to assess the proposal.| File | Dimensione | Formato | |
|---|---|---|---|
|
adaptive_bic_LCSS_original.pdf
Accesso riservato
Descrizione: Articolo principale
:
Publisher’s version
Dimensione
1.05 MB
Formato
Adobe PDF
|
1.05 MB | Adobe PDF | Visualizza/Apri |
|
adaptive_bic_LCSS_pub.pdf
accesso aperto
Descrizione: Articolo principale
:
Post-Print (DRAFT o Author’s Accepted Manuscript-AAM)
Dimensione
974.82 kB
Formato
Adobe PDF
|
974.82 kB | Adobe PDF | Visualizza/Apri |
I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
