Delayed system control in presence of actuator saturation

Boundary control of delayed ODE-heat cascade under actuator saturation

Robust Controller Design Based on Sliding Mode Observer in The Presence of Uncertainties and Actuator Saturation

This paper studies the design of a robust output feedback controller subject to actuator saturation. For this purpose, a robust high-gain sliding mode observer is used to estimate the state variables. Moreover, the combination of Composite Nonlinear Feedback (CNF) and Integral Sliding Mode (ISM) controllers are used for robust output tracking. This controller consists of two parts, the CNF part...

Motion Control of Swedish Wheeled Mobile Robots in the Presence of Actuator Saturation

Swedish wheeled mobile robots have remarkable mobility properties allowing them to rotate and translate at the same time. Being holonomic systems, their kinematics model results in the possibility of designing separate and independent position and heading trajectory tracking control laws. Nevertheless, if these control laws should be implemented in the presence of unaccounted actuator saturatio...

Actuator saturation and anti-windup compensation in event-triggered control

Event-triggered control aims at reducing the communication load over the feedback link in networked control systems by sending information only if certain event conditions, which guarantee a desired control performance, are satisfied. This article investigates the consequences of actuator saturation on the behavior of the event-triggered control loop in terms of its stability and information ex...

Adaptive Fuzzy Control of Stewart Platform under Actuator Saturation

A novel adaptive fuzzy trajectory tracking algorithm of Stewart platform based motion platform is proposed to compensate path deviation and degradation of controller’s performance due to actuator torque limit. The algorithm can be divided into two parts: the real-time trajectory shaping part and the joint space adaptive fuzzy controller part. For a reference trajectory in task space whenever an...