On overshoot and integrators

Zhu, Bin

doi:10.1049/iet-cta.2013.0410

Cited by 2 publications

(3 citation statements)

References 20 publications

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“…Thus, the relationship equation (11) implies that, under Assumption 5, the objectivẽ( ) → 0 and( ) → 0 as → +∞, ∈ { , }, can be achieved by driving E ( ) anḋ E ( ) to zero as → +∞, respectively.…”

Section: Analysis Of the Closed-loop Stabilitymentioning

confidence: 99%

“…This mainly owes to its structural simplicity and the wellknown performance property that IC can asymptotically reject constant input disturbances. Noting these facts, many researchers begin to study IC-based robust control schemes for multivehicle systems (MVSs) as in [10][11][12]. In particular, the recent work [10] shows that PI controllers successfully attenuate constant disturbances in the network of multiple single-integrator dynamics or the network of multiple double-integrator dynamics.…”

Section: Introductionmentioning

confidence: 99%

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Design and Experimental Verification of Robust Motion Synchronization Control with Integral Action

Chen

Zhu

Wei

2016

Mathematical Problems in Engineering

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A robust attitude motion synchronization problem is investigated for multiple 3-degrees-of-freedom (3-DOF) helicopters with input disturbances. The communication topology among the helicopters is modeled by a directed graph, and each helicopter can only access the angular position measurements of itself and its neighbors. The desired trajectories are generated online and not accessible to all helicopters. The problem is solved by embedding in each helicopter some finite-time convergent (FTC) estimators and a distributed controller with integral action. The FTC estimators generate the estimates of desired angular acceleration and the derivative of the local neighborhood synchronization errors. The distributed controller stabilizes the tracking errors and attenuates the effects of input disturbances. The conditions under which the tracking error of each helicopter converges asymptotically to zero are identified, and, for the cases with nonzero tracking errors, some inequalities are derived to show the relationship between the ultimate bounds of tracking errors and the design parameters. Simulation and experimental results are presented to demonstrate the performance of the controllers.

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Section: Analysis Of the Closed-loop Stabilitymentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Design and Experimental Verification of Robust Motion Synchronization Control with Integral Action

Chen

Zhu

Wei

2016

Mathematical Problems in Engineering

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“…However, these designs were presented for systems subject to step references only. Zhu 10 tackled the non-overshooting output tracking problem using a static linear controller for a linear chain of integrators subject to general references. However, feedback gains may need to be retuned for non-overshooting responses in accordance with different initial states.…”

Section: Introductionmentioning

confidence: 99%

Initial-value compensation of a proportional–integral–derivative controller for non-overshooting motion

Lu¹,

Liu

2017

Proceedings of the Institution of Mechanical Engineers, Part I:

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This article presents a proportional–integral–derivative controller design for monotonic, non-overshooting output responses of a class of second-order plants that do not need to be initially at rest. The proposed scheme is applicable to twice-differentiable reference commands, and monotonic, non-overshooting responses are achieved by compensating for the initial value of integral state. That is, the integral state is initially set to a certain value so that the subsequent response has no overshoot. In the proposed scheme, the initial value that should be assigned to the integral feedback is found to be a nonlinear function of the plant’s initial state. This result differs from those in previous schemes that constrain the controller’s initial state to be a linear function of the plant’s initial state. The proposed scheme is practically applied to layer-jump control and single-track jump control of an optical disk drive. Experimental results confirm the effectiveness of the proposed scheme and its applicability to mode-switching control systems.

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On overshoot and integrators

Cited by 2 publications

References 20 publications

Design and Experimental Verification of Robust Motion Synchronization Control with Integral Action

Design and Experimental Verification of Robust Motion Synchronization Control with Integral Action

Initial-value compensation of a proportional–integral–derivative controller for non-overshooting motion

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