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TECHNICAL BRIEFS

An Anti-Windup Design for Linear System With Asymptotic Tracking Subjected to Actuator Saturation

[+] Author and Article Information
Weiguang Niu

Quantum Corporation, 500 McCarthy Blvd., Milpitas, CA 95035e-mail: weiguang.niu@mail.qntm.com

Masayoshi Tomizuka

Department of Mechanical Engineering, University of California at Berkeley, Berkeley, CA 94704e-mail: tomizuka@me.berkeley.edu

J. Dyn. Sys., Meas., Control 122(2), 369-374 (Nov 05, 1998) (6 pages) doi:10.1115/1.482475 History: Received November 05, 1998
Copyright © 2000 by ASME
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References

Sussmann,  H., Sontag,  E., and Yang,  Y., 1994, “A General Result on the Stabilization of Linear Systems Using Bounded Control,” IEEE Trans. Autom. Control., 39, No. 12, pp. 2411–2425.
Lin,  Z., and Saberi,  A., 1993, “Semi-Global Exponential Stabilization of Linear System Subject to Input Saturation via Linear Feedback,” Syst. Control Lett.,21, No. 3, pp. 225–239.
Shin,  E., and McKay,  N., 1985, “Minimum-Time Control of Robotic Manipulator with Geometric Path Constraints,” IEEE Trans. Autom. Control., AC-30, pp. 531–541.
Bobrow,  J., Dubowsky,  S., and Gibson,  J., 1985, “Time-Optimal Control of Robotic Manipulators Along Specified Paths,” Int. J. Robot. Res.,4, No. 3, pp. 3–17.
Doyle, J., Smith, R., and Enns, D., 1987, “Control of Plant with Input Saturation Nonlinearity,” Proceedings of the 1987 American Control Conference, pp. 1034–1039.
Kapoor, N., Teel, A., and Daoutidis, P., 1996, “On Anti-Integrator-Windup and Global Asymptotic Stability,” Proceedings of IFAC World Congress, pp. 67–72.
Kapoor, N., Teel, A., and Daoutidis, P., 1996, “Guidelines for Anti-Windup Design for Linear Systems,” private communication.
Åström, K., and Wittenmark, B., 1984, Computer-Controlled Systems Theory and Design, Prentice-Hall, Englewood Cliffs, NJ.

Figures

Grahic Jump Location
The tracking performance of a ramp using state feedback controller with anti-windup term
Grahic Jump Location
The tracking performance of a ramp using output feedback controller with anti-windup term
Grahic Jump Location
The tracking performance of a ramp using PID controller with anti-windup term
Grahic Jump Location
The tracking performance of a sinusoidal input using state feedback controller with anti-windup term
Grahic Jump Location
The tracking performance of a sinusoidal input using output feedback controller with anti-windup term
Grahic Jump Location
The tracking performance of a sinusoidal input using PID controller with anti-windup term

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