Output feedback control design to enlarge the domain of attraction of a supercavitating vehicle subject to actuator saturation

Abstract

To enlarge the domain of attraction of a supercavitating vehicle subject to actuator saturation, this paper presents a new output feedback control design in consideration of the immeasurable vertical speed. The dive-plane dynamics of a supercavitating vehicle are considered. By introducing the sector condition of the planing force, a new output feedback control law that locally stabilizes the closed-loop system is proposed. The design of the controller that maximizes the vehicle’s domain of attraction is then formulated and solved as an optimization problem with linear matrix inequality (LMI) constraints. Simulations are conducted for systems under saturation-oriented and non-saturation-oriented controllers. The results show that the proposed design can achieve a much larger domain of attraction than do conventional, non-saturation-oriented approaches.

Dynamic event-triggered control for linear systems subject to asymmetric actuator saturation

“…A great attention has been paid to systems with saturated control. Several results have emerged by solving problems of global stabilization, semi-stabilization, and regional stability stabilization (see, among others, Chen and Wang, 2021;Du et al, 2018;Hu and Lin, 2001;Qiang and Zhang, 2018). Yang et al (2019) designed a double-loop feedback control for the high-frequency networked control system with actuator saturation.…”

LMI-Based Robust Stabilization of a Class of Input-Constrained Uncertain Nonlinear Systems with Application to a Helicopter Model

“…e design of controllers for continuous-time and discrete-time systems by taking into consideration the actuator saturation has been extensively studied in the past few decades [17][18][19][20][21][22][23][24][25][26][27][28][29][30][31][32][33][34][35][36]. Some works have investigated the problem of uncertainties and actuator saturation in mechatronic systems such as the vehicle lateral dynamics [37], the vehicle active suspension systems [38][39][40][41], the rigid spacecraft [42,43], the inertia wheel inverted pendulum [12], the supercavitating vehicle [44], the flexible robotic manipulator [45], and the marine surface vessel [46], among others. e concept of attractive invariant sets has been generally proposed for linear systems involving actuator saturation [5,20,28,29,36,44,[47][48][49][50][51].…”

“…Some works have investigated the problem of uncertainties and actuator saturation in mechatronic systems such as the vehicle lateral dynamics [37], the vehicle active suspension systems [38][39][40][41], the rigid spacecraft [42,43], the inertia wheel inverted pendulum [12], the supercavitating vehicle [44], the flexible robotic manipulator [45], and the marine surface vessel [46], among others. e concept of attractive invariant sets has been generally proposed for linear systems involving actuator saturation [5,20,28,29,36,44,[47][48][49][50][51]. Moreover, through such concept, numerous studies have focused on the characterization of the maximum attraction set for linear systems subject to saturated linear feedback.…”

H∞ static output feedback control for electrical power steering subject to actuator saturation via fuzzy Lyapunov functions

“…The effect can result in performance degradation of a controlled system, source of limit cycles, and even can make the system unstable (Cao et al, 2003; Dang et al, 2017; Jungers et al, 2017; Seuret et al, 2016). The design of control systems with actuator saturation constraint has been receiving growing attention (see, e.g., Dang et al (2017); Nguyen et al (2017); Qiang et al (2018) and the references therein). The study in Saifia et al (2015) investigates the actuator saturation in the EPS system using a quadratic Lyapunov function.…”