Nonlinear Antiwindup Applied to Euler–Lagrange Systems

Morabito, Federico; Teel, Andrew R.; Zaccarian, Luca

doi:10.1109/tra.2004.824933

Cited by 116 publications

(49 citation statements)

References 15 publications

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“…The control law is formulated using the transformed system (11). Let be the vector of desired tracking trajectory.…”

Section: Fundamentals Of Wavelet Neural Networkmentioning

confidence: 99%

“…Nonlinear behavior of the actuator causes the detuning of plant as well as controller parameters which may lead to the poor performance or even may cause the destabilization of the system. Out of these nonlinearities saturation is the frequently encountered nonlinearity and is addressed by several researchers Most of the research in this topic is based on augmentation of baseline controller with additional saturation compensation dynamics [11][12][13] System identification plays a critical role in the designing of controllers for uncertain nonlinear systems. Controller is expected to provide efficient, safe and desired performance.…”

Section: Introductionmentioning

confidence: 99%

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Wavelet Adaptive Reduced Order Observer Based Tracking Control for a Class of Uncertain Time Delay Nonlinear Systems Subjected to Actuator Saturation

Sharma¹,

Verma²

2012

IJISA

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Abstract-This Paper investigates the mean to design the reduced order observer and observer based controllers for a class of delayed uncertain nonlinear system subjected to actuator saturation. A new design approach of wavelet based adaptive reduced order observer is proposed. The proposed wavelet adaptive reduced order observer performs the task of identification of unknown system dynamics in addition to the reconstruction of states of the system. Wavelet neural network (WNN) is used to approximate the uncertainties present in the system as well as to identify and compensate the nonlinearities introduced in the system due to actuator saturation. Using the feedback control, based on reconstructed states, the behavior of closed loop system is investigated. In addition robust control terms are also designed to attenuate the approximation error due to WNN. Adaptation laws are developed for the online tuning of the wavelet parameters and the stability of the overall systems is assured by using the Lyapunov-Krasovskii functional. A numerical example is provided to verify the effectiveness of theoretical development.

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“…The control law is formulated using the transformed system (11). Let be the vector of desired tracking trajectory.…”

Section: Fundamentals Of Wavelet Neural Networkmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Wavelet Adaptive Reduced Order Observer Based Tracking Control for a Class of Uncertain Time Delay Nonlinear Systems Subjected to Actuator Saturation

Sharma¹,

Verma²

2012

IJISA

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show abstract

“…An anti-windup approach is presented to guarantee global asymptotic stability of Euler-Lagrange systems in Morabito (2004). In Loria (1997), a controller is proposed involving a gravity compensation term plus a saturating function through which the position errors pass.…”

Section: Introductionmentioning

confidence: 99%

Teleoperation in the presence of varying time delays and sandwich linearity in actuators

2013

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In this paper, a novel control scheme is proposed to guarantee global asymptotic stability of bilateral teleoperation systems that are subjected to time-varying time delays in their communication channel and sandwich linearity in their actuators. This extends prior art concerning control of nonlinear bilateral teleoperation systems under time-varying time delays to the case where the local and the remote robots' control signals pass through saturation or similar nonlinearities that belong to a class of systems we name sandwich linear systems. Our proposed controller is similar to the proportional plus damping (P+D) controller with the difference that it takes into account the actuator saturation at the outset of control design and alters the proportional term by passing it through a nonlinear function; thus, we call the proposed method as nonlinear proportional plus damping (nP+D).The asymptotic stability of the closed-loop system is established using a LyapunovKrasovskii functional under conditions on the controller parameters, the actuator saturation characteristics, and the maximum values of the time-varying time delays. To show the effectiveness of the proposed method, it is simulated on a variable-delay teleoperation system comprising a pair of planar 2-DOF robots subjected to actuator saturation. Furthermore, the controller is experimentally validated on a pair of 3-DOF PHANToM Premium 1.5A robots, which have limited actuation capacity, that form a teleoperation system with a varying-delay communication channel.

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“…Indeed, any of the variants on these constructions which yield iISS [13] closed loops (2) with guaranteed Lyapunov functions [14], suitable for second order systems [15] would be appropriate candidates to generate the posited error tracker (2), although for purposes of illustration in this paper we use a very much simpler saturating potential-dissipative [16] tracker (21).…”

Section: Introductionmentioning

confidence: 99%

Dynamical trajectory replanning for uncertain environments

Revzen

Ilhan

Koditschek

2012

2012 IEEE 51st IEEE Conference on Decision and Control (CDC)

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We propose a dynamical reference generator equipped with an augmented transient "replanning" subsystem that modulates a feedback controller's efforts to force a mechanical plant to track the reference signal. The replanner alters the reference generator's output in the face of unanticipated disturbances that drive up the tracking error. We demonstrate that the new reference generator cannot destabilize the tracker, that tracking errors converge in the absence of disturbance, and that the overall coupled reference-tracker system cannot be destabilized by disturbances of bounded energy. We report the results of simulation studies exploring the performance of this new design applied to a two dimensional point mass particle interacting with fixed but unknown terrain obstacles. This material is posted here with permission of the IEEE. Such permission of the IEEE does not in any way imply IEEE endorsement of any of the University of Pennsylvania's products or services. Internal or personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution must be obtained from the IEEE by writing to pubs-permissions@ieee.org. By choosing to view this document, you agree to all provisions of the copyright laws protecting it.This conference paper is available at ScholarlyCommons: http://repository.upenn.edu/ese_papers/644 Dynamical Trajectory Replanning for Uncertain EnvironmentsShai Revzen* B. Denizİlhan* Daniel E. Koditschek* Abstract-We propose a dynamical reference generator equipped with an augmented transient "replanning" subsystem that modulates a feedback controller's efforts to force a mechanical plant to track the reference signal. The replanner alters the reference generator's output in the face of unanticipated disturbances that drive up the tracking error. We demonstrate that the new reference generator cannot destabilize the tracker, that tracking errors converge in the absence of disturbance, and that the overall coupled reference-tracker system cannot be destabilized by disturbances of bounded energy. We report the results of simulation studies exploring the performance of this new design applied to a two dimensional point mass particle interacting with fixed but unknown terrain obstacles.

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Nonlinear Antiwindup Applied to Euler–Lagrange Systems

Cited by 116 publications

References 15 publications

Wavelet Adaptive Reduced Order Observer Based Tracking Control for a Class of Uncertain Time Delay Nonlinear Systems Subjected to Actuator Saturation

Wavelet Adaptive Reduced Order Observer Based Tracking Control for a Class of Uncertain Time Delay Nonlinear Systems Subjected to Actuator Saturation

Teleoperation in the presence of varying time delays and sandwich linearity in actuators

Dynamical trajectory replanning for uncertain environments

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