TRACKING WITH BOUNDED ACTUATORS: SCHEDULED CONTROLLERS

摘要

We extend a class of scheduled controllers, that were originally developed to address actuator saturation in the disturbance attenuation problem, to the problem of tracking of generally unknown signals. The main assumption is that some (possibly conservative) bounds be known for peak magnitude and rate of the tracking signal. Both state feedback for and static output feedback controllers are presented, though the choice of the approach to obtain the latter is left to the user. The solvability conditions and effectiveness are shown through an example.