This paper provides a novel method for designing step tracking controllers for systems with saturating actuators. The approach is based on the theory of Quasi-linear Control (QLC), which offers methods for designing random reference tracking controllers for systems with nonlinear actuators and sensors. In the current paper, a QLC approach to designing step tracking controllers is presented. The development is based on two ideas: introducing a precompensator, which observes given step tracking specifications, and recasting the output of the precompensator into a random reference bandwidth requirement, with subsequent utilization of QLC. Unlike other techniques, the method developed here takes the saturation into account directly at the initial stage of the design and does not require subsequent augmentations (e.g., anti-windup). Nevertheless, for the sake of completeness, a comparison with the anti-windup approach is provided.
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September 2013
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Quasi-Linear Control Approach to Designing Step Tracking Controllers for Systems With Saturating Actuators
Pierre T. Kabamba,
Pierre T. Kabamba
Professor
Department of Aerospace Engineering,
e-mail: kabamba@umich.edu
Department of Aerospace Engineering,
University of Michigan
,Ann Arbor, MI 48109
e-mail: kabamba@umich.edu
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Semyon M. Meerkov,
Semyon M. Meerkov
Professor
Department of Electrical Engineering and Computer Science,
e-mail: smm@umich.edu
Department of Electrical Engineering and Computer Science,
University of Michigan
,Ann Arbor, MI 48109
e-mail: smm@umich.edu
Search for other works by this author on:
Hamid R. Ossareh
Hamid R. Ossareh
Department of Electrical Engineering and Computer Science,
e-mail: hamido@umich.edu
University of Michigan
,Ann Arbor, MI 48109
e-mail: hamido@umich.edu
Search for other works by this author on:
Pierre T. Kabamba
Professor
Department of Aerospace Engineering,
e-mail: kabamba@umich.edu
Department of Aerospace Engineering,
University of Michigan
,Ann Arbor, MI 48109
e-mail: kabamba@umich.edu
Semyon M. Meerkov
Professor
Department of Electrical Engineering and Computer Science,
e-mail: smm@umich.edu
Department of Electrical Engineering and Computer Science,
University of Michigan
,Ann Arbor, MI 48109
e-mail: smm@umich.edu
Hamid R. Ossareh
Department of Electrical Engineering and Computer Science,
e-mail: hamido@umich.edu
University of Michigan
,Ann Arbor, MI 48109
e-mail: hamido@umich.edu
Contributed by the Dynamic Systems Division of ASME for publication in the Journal of Dynamic Systems, Measurement and Control. Manuscript received March 31, 2012; final manuscript received March 22, 2013; published online July 18, 2013. Assoc. Editor: Yang Shi.
J. Dyn. Sys., Meas., Control. Sep 2013, 135(5): 054504 (8 pages)
Published Online: July 18, 2013
Article history
Received:
March 31, 2012
Revision Received:
March 22, 2013
Citation
Kabamba, P. T., Meerkov, S. M., and Ossareh, H. R. (July 18, 2013). "Quasi-Linear Control Approach to Designing Step Tracking Controllers for Systems With Saturating Actuators." ASME. J. Dyn. Sys., Meas., Control. September 2013; 135(5): 054504. https://doi.org/10.1115/1.4024562
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