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.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

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


    Contributors:

    Published in:

    Publication date :

    2024-07-01




    Type of media :

    Conference paper , Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English




    Managing Unwinding in Quaternion-Based Antiwindup Compensation for Constrained Rigid Body Attitude Control

    Salehifar, Homa / Richards, Christopher M. / Turner, Matthew C. | IEEE | 2025



    Robust Antiwindup for Manual Flight Control of an Unstable Aircraft

    Giulio Avanzini / Sergio Galeani | AIAA | 2005



    Antiwindup controllers for systems with input nonlinearities

    Hadda, Wassim M. / Kapila, Vikram | AIAA | 1996