Robust Antiwindup for One-Sided Lipschitz Systems Subject to Input Saturation and Applications

Hussain, Muntazir; Rehan, Muhammad; Ahn, Choon Ki; Tufail, Muhammad

doi:10.1109/tie.2018.2815950

Cited by 43 publications

(19 citation statements)

References 40 publications

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“…The basic idea of auxiliary AW system was presented in [22,23]. This paper is a good improvement over those papers: to improve the speed of AW, the FT convergent auxiliary AW system is designed for the th j motor as follows:…”

Section: Design Of the Controllermentioning

confidence: 99%

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Total-Amount Coordinated Finite-Time Control of Multi-Motors With Saturation Constraints

Zhang

Qian

et al. 2020

IEEE Access

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For the multi-motor traction finite-time control (FTC) system with input saturation constraints, considering parameter simplification of "adding a power integrator" (AAPI) and anti-windup (AW), a total-amount coordinated tracking control (TACTC) strategy based on nonsingular terminal sliding mode (NTSM) is proposed to ensure the global finite-time stability and effectively reduce energy consumption. First, a traction model of multiple permanent magnet synchronous motors (PMSMs) with uncertain parameter perturbations and external disturbances was established. Next, a finite-time auxiliary AW system was designed and the auxiliary state was fed back to TACTC. Then, the strong constraint of parameters of AAPI was relaxed, the setting rules of the corresponding parameters were given and the proof of finite-time Lyapunov stability was completed. Finally, the excellent performance of parameter simplification of AAPI and the controller was verified by the Matlab/Simuink simulation and RT-Lab semiphysical experiment of the multi-motor traction system, which shows that the control strategy can suppress the input saturation effect in the multi-motor traction system effectively.

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Section: Design Of the Controllermentioning

confidence: 99%

“…The mathematical correlation function is used to deal with saturation [21]. A static or dynamic AW compensator is designed to weaken the saturation effect [22,23]. The saturation constraint is transformed into the optimization problem with linear matrix inequality constraint [24].…”

Section: Introductionmentioning

confidence: 99%

Total-Amount Coordinated Finite-Time Control of Multi-Motors With Saturation Constraints

Zhang

Qian

et al. 2020

IEEE Access

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“…20 It is undeniable that the input saturation phenomenons caused by limited power seriously affect tracking performances and convergence characteristics of controllers. [21][22][23] Fortunately, the input saturation problem has been solved with the help of different kinds of mathematical theories or models, such as mean-value theorem 24 and nonlinear input saturation model. 25 Therefore, it is necessary to consider input saturation while designing a controller with higher tracking performance for FJRs.…”

Section: Introductionmentioning

confidence: 99%

Extended‐state‐observer‐based dynamic surface control of flexible‐joint robot systems with input saturation

Lian

Wang

2021

Adaptive Control & Signal

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This article presents an extended-state-observer-based dynamic surface control approach for flexible-joint robot systems with asymmetric input saturation and large unknown dynamic knowledge. Traditional controllers for flexible-joint robot systems usually use approximation technology to deal with unknown dynamics knowledge. Unlike the traditional control algorithm, this article utilizes an extended state observer to estimate the unknown dynamics.For the closed-loop system, the delay strategy handles the time-scale separation issue, the filtering system overcomes the "explosion of differentiation" caused by the repeated differentiation of auxiliary control signals, and the mean-value-theorem solves the input saturation problem of the actuator. The stability analysis implies that estimation errors of extended state observers (ESOs) and other state variables are semiglobally uniformly ultimately bounded.Compared with fuzzy control algorithms, the novel ESO-based dynamic surface control approach not only omits online learning time but also uses only a few control parameters to obtain satisfactory tracking performance. Finally, a comparison simulation experiment is provided to illustrate the effectiveness of the gained conclusions.

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“…A combination of a Nussbaum function, smooth function, or mean value theorem is a common method to address input saturation [16][17][18], and by using the linear matrix inequality (LMI) to solve the parameters of the AW compensator, the estimation of the domain of attraction can be improved [19,20]. In [21], the AW compensator synthesis scheme was derived by employing the quadratic Lyapunov function, notion of quadratic inner-boundedness, one-sided Lipschitz condition, sector condition, and L 2 gain minimization. In [22], an adaptive neural network controller with an integrated auxiliary system is designed to guarantee the tracking performance and tackle the effect of actuator saturation.…”

Section: Introductionmentioning

confidence: 99%

Consistent Total Traction Torque-Oriented Coordinated Control of Multimotors with Input Saturation for Heavy-Haul Locomotives

Zhang

et al. 2020

Journal of Advanced Transportation

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In the coordinated control of multiple motors for heavy-haul locomotives, the input value for a motor often exceeds its maximum allowable input value, resulting in the saturation problem. A traction total-amount coordinated tracking control (TACTC) strategy is proposed to address the input saturation of heavy-haul locomotives driven by multiple motors. This strategy reduces control input and suppresses input saturation. First, a multimotor traction model with uncertain parameter perturbations and external disturbances was established. Next, a sliding-mode disturbance observer (SMDO) was designed to reduce the sliding-mode switching gain, thereby decreasing the control input. An auxiliary anti-windup (AW) system was used to weaken the effect of input saturation on tracking performance. Then, the observed value and auxiliary state were fed back to the sliding-mode controller to design a TACTC protocol and ensure that the total amount of traction torque follows the desired traction characteristic curve. Finally, the Matlab/Simulink simulation and RT-Lab semiphysical experiment results show that the proposed strategy can effectively suppress the input saturation problem of multimotor coordinated control.

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Robust Antiwindup for One-Sided Lipschitz Systems Subject to Input Saturation and Applications

Cited by 43 publications

References 40 publications

Total-Amount Coordinated Finite-Time Control of Multi-Motors With Saturation Constraints

Total-Amount Coordinated Finite-Time Control of Multi-Motors With Saturation Constraints

Extended‐state‐observer‐based dynamic surface control of flexible‐joint robot systems with input saturation

Consistent Total Traction Torque-Oriented Coordinated Control of Multimotors with Input Saturation for Heavy-Haul Locomotives

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