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Adaptive output feedback control with input saturation
Proceedings of the 2003 American Control Conference, 2003., 2004We consider the problem of adaptive output feedback control in the presence of saturating input characteristic. The adaptive control architecture augments an existing linear control design. The approach is applicable to non-affine, nonlinear systems with both parametric uncertainty and unmodeled dynamics subject to input saturation.
Bong-Jun Yang +2 more
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Control of switched linear systems with input saturation
International Journal of Systems Science, 2010The problem of control of switched linear systems with input saturation is considered. A synthesis method based on the minimum dwell time switching together with saturated feedbacks is presented. Sufficient conditions for stability are proposed in term of linear matrix inequalities.
Wei Ni 0002, Daizhan Cheng
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On Active Magnetic Bearing Control with Input Saturation
Proceedings of the 44th IEEE Conference on Decision and Control, 2006We study the low-bias stabilization of active magnetic bearings (AMBs) subject to voltage saturation based on a recently proposed model for the AMB switching mode of operation. Using a forwarding-like approach, we construct a stabilizing controller of arbitrarily small amplitude and a control-Lyapunov function for the AMB dynamics.
Frédéric Mazenc +2 more
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Learning Control for a Robotic Manipulator with Input Saturation
IFAC Proceedings Volumes, 2013Abstract In this paper, adaptive neural-network control is designed for an n-DOF robotic manipulator system. In the tracking control design, both uncertainties and input saturation are considered. Stability of the closed-loop system is analyzed via the Lyapunov's direct method.
Wei He 0001, Shengtao Xiao, Sijia Yu
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Manipulator maneuvering by feedback linearization with saturating inputs
Proceedings. 1985 IEEE International Conference on Robotics and Automation, 2005Recent research on fast exact maneuvering strategies for manipulators has employed acceleration commands as control variables. The forces and torques can then be synthesized, either in software or with dedicated hard-wired interfaces. Among the difficulties that occur when such maneuver techniques are employed is the fact that actuator saturation ...
Thomas A. W. Dwyer III +3 more
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Feedback cooperative control for releasing input saturation
Proceedings of the 2004 IEEE International Conference on Control Applications, 2004., 2005In this paper output unreachability under input saturation phenomenon is studied: under a large disturbance or set-point change, the process output may never reach the set-point even when the manipulated variable has been driven to saturation. The process output can only be brought back to the set-point by activating an auxiliary manipulated variable ...
Leonardo Giovanini, Hao Xia
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PI Control with Input Saturations
2003We start our investigations with the basic case of PI control, with actuator saturation and on plants of dominant first order. This situation covers a very large percentage of industrial cases. It is also the most simple one and will serve as a building block for more involved cases.
A. H. Glattfelder, W. Schaufelberger
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The input amplitude saturation problem in QFT: A survey
Annual Reviews in Control, 2011Abstract In this work the input amplitude saturation problem is analysed in the Quantitative Feedback Theory (QFT) framework. This paper reviews previous works in the literature dealing with the input amplitude saturation problem in the presence of an uncertain plant in the frequency domain using QFT.
José Carlos Moreno +3 more
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Integral control with saturating input
UKACC International Conference on Control. Control '96, 1996In this paper we consider the problem of integral low-gain control of stable finite-dimensional, single-input single-output systems with positive steady-state gain. The linear plant is subject to a sector-bounded actuator nonlinearity such as saturation or dead-zone. We show that provided the integral gain is small enough then the closed-loop system is
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Stability analysis for reset systems with input saturation
2007 46th IEEE Conference on Decision and Control, 2007This paper is devoted to the stability analysis for a class of reset systems, such as those including a Clegg integrator or a FORE (first order reset element). The system under consideration is subject to input saturation. Hence, constructive conditions, allowing to characterize the region of stability of the saturated closed-loop system, are proposed ...
Thomas Loquen +2 more
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