It is well known that actuator saturation can cause destabilization and degradation in performance; similar problems are encountered when actuation is quantized. This study proposes the design of an antiwindup compensator for systems with actuators that are limited to a finite number of quantization levels. This combination of discrete-level actuation and saturation poses a unique antiwindup problem that has not yet been solved. To surmount this combined issue, an antiwindup compensator is proposed, which provides ultimate boundedness of the system state within a prescribed region and guarantees that the state does not stray outside a larger compact set. The use of shifted ramp functions enables a less conservative bound on the control-signal error, which yields significantly lower L 2 gain bounds compared to a standard sector-bound antiwindup design approach. A numerical simulation example illustrates the effectiveness on a rigid-body system, which inspired this study.


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    Titel :

    Antiwindup Compensation for Unstable Rigid-Body Systems with Quantized and Saturated Inputs


    Beteiligte:

    Erschienen in:

    Erscheinungsdatum :

    01.07.2024




    Medientyp :

    Aufsatz (Konferenz) , Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




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