Fixed-Dynamics Antiwindup Design: Application to Pitch-Limited Position Control of Multirotor Unmanned Aerial Vehicles
نویسندگان
چکیده
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 AW design, proposed synthesis procedure is based on compensator paradigm in which controller acts top of a baseline one, tuned achieve desirable performance unsaturated regime. After extending existing ideas for continuous-time plants their counterparts, carried out focus computational efficiency optimized practical operating scenarios. The allows one fixed-dynamics compensators possibly open-loop unstable using generalized sector conditions. Then, applied tune having structure static cascaded unit delay avoid algebraic loops. Finally, benefits such augmentation are assessed experimentally counteract windup effects arising position multirotor unmanned aerial vehicles (UAVs) when pitch limitations imposed.
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ژورنال
عنوان ژورنال: IEEE Transactions on Control Systems and Technology
سال: 2021
ISSN: ['1558-0865', '2374-0159', '1063-6536']
DOI: https://doi.org/10.1109/tcst.2020.3042073