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Research Papers

Switching Antiwindup Design on Enlarging the Domain of Attraction for a Supercavitating Vehicle Subject to Actuator Saturation

[+] Author and Article Information
Baochen Qiang

32nd Institute of China Electronics Technology
Group Corporation,
Shanghai 200233, China
e-mail: nxb000@sina.com

Zhang Le

Equipment Engineering Department,
Shenyang Ligong University,
Shenyang 110168, China
e-mail: zhanglesylu@sina.com

1B. Qiang and L. Zhang contributed equally to this work.

2Corresponding author.

Contributed by the Dynamic Systems Division of ASME for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received June 3, 2016; final manuscript received February 12, 2017; published online June 5, 2017. Assoc. Editor: Tesheng Hsiao.

J. Dyn. Sys., Meas., Control 139(9), 091010 (Jun 05, 2017) (12 pages) Paper No: DS-16-1284; doi: 10.1115/1.4036230 History: Received June 03, 2016; Revised February 12, 2017

This paper presents a new switching antiwindup compensation design to maximize the domain of attraction for a supercavitating vehicle subject to actuator saturation. The dive-plane dynamics of the vehicle are considered. By applying the linear differential inclusion expression of saturated feedbacks, conditions under which the compensator locally stabilizes the closed-loop system are then derived. The design of antiwindup gains on maximizing the system's domain of attraction is finally formulated and solved as an iterative optimization problem with linear matrix inequality constraints. Simulations are conducted for systems with magnitude and rate limits to evaluate the effectiveness of the proposed method.

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Figures

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Fig. 1

Schematic diagram of a supercavitating vehicle

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Fig. 2

Relationship between the vertical speed and the planing force

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Fig. 3

Saturation characteristics of satG(•)

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Fig. 4

Convex polyhedron representations of a 2D saturated actuator

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Fig. 5

Cross sections of E(PuncompensatedUOC) and E(PcompensatedUOC) at xc = 0

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Fig. 6

Initial responses of the saturated system with and without the UOC based antiwindup compensator

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Fig. 7

Cross sections of E(Psaturation) at xc = 0

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Fig. 8

Initial responses of the system with and without the antiwindup compensator resulting from the saturation-oriented controller

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Fig. 9

System state trajectories starting from the boundary of the estimated domain of attraction

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Fig. 10

Initial responses of the system with and without the antiwindup compensator in the presence of magnitude limits only

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Fig. 11

Initial responses of the system with and without the antiwindup compensator in the presence of magnitude and rate limits

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