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Solving Nonlinear Algebraic Loops Arising in Input-Saturated Feedbacks
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DOI：10.1109/TAC.2022.3170858.png)
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Abstract
En 中文
In this article, we propose a dynamic augmentation scheme for the asymptotic solution of the nonlinear algebraic loops arising in well-known input saturated feedbacks typically designed by solving linear matrix inequalities. We prove that the existing approach based on dynamic augmentation, which replaces the static loop by a dynamic one through the introduction of a sufficiently small time constant, works under some restrictive sufficient well-posedness conditions, requiring the existence of a diagonal Lyapunov matrix. However it can fail in general, even when the algebraic loop is well-posed. Then, we propose a novel approach whose effectiveness is guaranteed whenever well-posedness holds. We also show how this augmentation allows preserving the guaranteed region of attraction with Lyapunov-based designs, as long as a gain parameter is sufficiently large. We finally propose an adaptive version of the scheme where this parameter is adjusted online. Simulation results show the effectiveness of the proposed solutions.
Keywords:
Algebraic loop
anti-windup
constrained control
deadzone loops
input saturation
nonlinear control systems
Journal
IF:
7
Papers:
1.3W
Citations:
6.7W