Leveraging recent results on bounded stabilization of linear plants using shifted equilibria, we propose a novel anti-windup scheme for linear input-saturated plants with (asymmetric) saturation limits. We show that, with open-loop plants involving a continuum of equilibria, the proposed anti-windup solution provides an unbounded estimate of the basin of attraction, thereby overcoming typical limits of classical solutions. We also report on experiments performed on a segway-like vehicle, where the controller effectively displaces the segway between any two locations, due to unboundedness of the basin of attraction.
Static anti-windup with shifted equilibria applied to a Segway-like vehicle / Braun, P.; Bhardwaj, A.; Brentari, M.; Zaccarian, L.; Saveriano, M.. - In: AUTOMATICA. - ISSN 0005-1098. - 169:(2024). [10.1016/j.automatica.2024.111830]
Static anti-windup with shifted equilibria applied to a Segway-like vehicle
Brentari M.;Zaccarian L.;Saveriano M.
2024-01-01
Abstract
Leveraging recent results on bounded stabilization of linear plants using shifted equilibria, we propose a novel anti-windup scheme for linear input-saturated plants with (asymmetric) saturation limits. We show that, with open-loop plants involving a continuum of equilibria, the proposed anti-windup solution provides an unbounded estimate of the basin of attraction, thereby overcoming typical limits of classical solutions. We also report on experiments performed on a segway-like vehicle, where the controller effectively displaces the segway between any two locations, due to unboundedness of the basin of attraction.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione