Controller design for linear unstable systems with position and rate actuator saturation

Abstract

This paper focuses on the stabilization problem of linear systems subject to control amplitude and rate saturation.The considered saturating actuator is a first order system subject to input saturation and speed saturation. Some conditions for the stability of the closed-loop system despite the occurrence of saturations are formulated in terms of mahixinequalities. The closed-loopperformances are alsodiscussed. Some numerical examples are provided in order to illustrate the techniques developed.

Computer vision-based control of an autonomous blimp

“…It is critical to indicate that the saturation blocks in actuators and between the two states render the UAV system nonlinear. In the literature, we have different controller design techniques for these types of nonlinear systems [8][9][10][11][12]. On the other hand, these works demonstrate feedback controller design methods once the system has input, actuator, or sensor saturation.…”