Tracking control with adaptively Allocated Maximum Input Amplitudes and Enlarged Domain of Attraction for linear systems
We propose a novel method for designing a fast trajectory tracking controller based on a 2-DOF control structure for linear systems subject to input constraints. Major steps are: First, we derive a required decaying rate of a quadratic Lyapunov function (QLF) that enables an adaptation of the maximu...
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Format: | Tagungsbericht |
Sprache: | eng |
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Zusammenfassung: | We propose a novel method for designing a fast trajectory tracking controller based on a 2-DOF control structure for linear systems subject to input constraints. Major steps are: First, we derive a required decaying rate of a quadratic Lyapunov function (QLF) that enables an adaptation of the maximum input amplitudes reserved for error compensation. This adaptation is based on the current feedforward signal. Second, we show a saturating control law which ensures the existence of such a QLF. The corresponding domain of attraction is estimated by solving a convex optimization problem. Third, we add a Lyapunov-based command governor in order to further enlarge the controller's domain of attraction. Simulation and experimental results confirm the performance benefit of the proposed method. |
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ISSN: | 0191-2216 |
DOI: | 10.1109/CDC.2013.6760190 |