On improvement of transient performance in tracking control for a class of nonlinear systems with input saturation

Lan, Weiyao; Chen, Ben M.; He, Yingjie

doi:10.1016/j.sysconle.2005.06.004

Cited by 63 publications

(36 citation statements)

References 11 publications

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“…Thus, the problem of stabilising systems subject to input saturation is of great significance and has received much attention in recent years (see, e.g. Ding, Qian, & Li, 2010;He, Chen, & Lan, 2007;Lan, Chen, & He, 2006;Lens, Adamy, & Domont-Yankulova, 2011;Marchand & Hably, 2005;Sontag & Sussmann, 1990;Teel, 1992 and the references therein). In early works, the attention is usually paid to designing optimal bounded controllers (Athans & Falb, 1966) or linear bounded controllers (mainly including linear anti-windup compensation Hu, Teel, and Zaccarian (2008), Kothare, Campo, Morari, and Nett (1994) and low-gain design method Lin and Saberi (1993)) for linear systems.…”

Section: Introductionmentioning

confidence: 99%

Robust control of multiple integrators subject to input saturation and disturbance

Ding

Zheng

2014

International Journal of Control

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This paper is concerned with the problem of robust stabilisation of multiple integrators systems subject to input saturation and disturbance from the viewpoint of state feedback and output feedback. First of all, without considering the disturbance, a backstepping-like method in conjunction with a series of saturation functions with different saturation levels is employed to design a nested-saturation based state-feedback controller with pre-chosen parameters. On this basis, taking the disturbance into account, a sliding mode disturbance observer (DOB) is adopted to estimate the states and the disturbance. Then, by combining the above state-feedback controller and the estimated states together, a composite controller with disturbance compensation is developed. With the removal of the non-increasing restriction on the saturation levels, the controller design becomes very flexible and the convergence performance of the closed-loop system is much improved. Meanwhile, with the aid of the estimated values by the DOB, we obtain not only the output-feedback control scheme but also the better disturbance rejection property for the closed-loop system. A simulation example of a triple integrators system is presented to substantiate the usefulness of the proposed technique.

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Section: Introductionmentioning

confidence: 99%

Robust control of multiple integrators subject to input saturation and disturbance

Ding

Zheng

2014

International Journal of Control

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“…The extension of [9] to multi-variable systems is reported in [10]. Moreover, Lan et al extended the CNF control technique to a class of nonlinear systems in [11]. The discrete-time counterparts can be found in [12] and [13] etc..…”

Section: Introductionmentioning

confidence: 99%

Output feedback CNF control for output regulation problem of linear system with input saturation

Lin

Lan

2013

2013 25th Chinese Control and Decision Conference (CCDC)

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To improve the transient performance, the composite nonlinear feedback (CNF) control technique is introduced to solve the output regulation problem of linear systems with input saturation. Under the assumption that both the states of plant and exo-system are not measurable for feedback, an full state observer is designed to construct an output feedback CNF control law. The output feedback CNF controller is constructed based on a state feedback control law that solves the output regulation problem and the state observer. The solvability of the output regulation problem by output feedback CNF control is established which shows that the nonlinear feedback part does not change the solvability condition of the output regulation problem. The introducing of nonlinear feedback part in the CNF control law provides an extra degree of freedom to improve the transient performance. By appropriately choosing the linear feedback gain and the nonlinear feedback gain in the CNF control law can significantly improve the transient performance of the controlled output which is illustrated by a disturbance rejection problem.

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“…However, both [3] and [4] consider only the state feedback case. Recently, the problem has been solved in [5,6] for general linear systems with measurement feedback and in [7] for a class of nonlinear systems with input saturation. The CNF control technique has also been successfully utilized to design hard disk drive servo systems (see [5,6,8]) and adopted to improve control performance for a nonlinear benchmark problem of [9] (see also [10,11]).…”

Section: Introductionmentioning

confidence: 99%

A MATLAB toolkit for composite nonlinear feedback control — improving transient response in tracking control

Cheng

Chen

Peng

et al. 2010

J. Control Theory Appl.

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We present in this article a MATLAB toolkit with a user-friendly graphical interface for composite nonlinear feedback control system design. The toolkit can be utilized to design a fast and smooth tracking controller for a class of linear systems and nonlinear systems with actuator and other nonlinearities as well as with external disturbances. The parameters of the controller can be tuned easily on the user panel or autotuned by the toolkit. The toolkit is capable of displaying both time-domain and frequency-domain responses on its main panel and generating three different types of control laws, namely, the state feedback, the full-order measurement feedback and the reduced-order measurement feedback controllers. The usage and design procedure of the toolkit are illustrated by practical examples on a rotational/translational actuator (RTAC) system and a hard disk drive servo system. The toolkit can be utilized to design servo systems that deal with point-and-shoot fast targeting.

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On improvement of transient performance in tracking control for a class of nonlinear systems with input saturation

Cited by 63 publications

References 11 publications

Robust control of multiple integrators subject to input saturation and disturbance

Robust control of multiple integrators subject to input saturation and disturbance

Output feedback CNF control for output regulation problem of linear system with input saturation

A MATLAB toolkit for composite nonlinear feedback control — improving transient response in tracking control

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