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Tracking Controller for Intrinsic Output Saturated Systems in Presence of Amplitude and Rate Input Saturations

机译:在幅度和速率输入饱和的情况下,用于固有输出饱和系统的跟踪控制器

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摘要

We consider the problem of controlling plants that are subject to multiple saturation constraints. Especially, we are interested in linear systems whose input is subject to amplitude and rate constraints of saturation type. Furthermore, the considered systems output is also subject to an intrinsic saturation. Then, aiming to design global (and asymptotic) output tracking of compatible output-reference trajectories, we propose a suitable saturated linear controller following the direct approach (where the constraints are taken into account during the regulator design). The (non-linear) closed-loop control system is analyzed using input-output stability tools. Thus, conditions guaranteeing l2-tracking performances are formally defined. Interestingly, the proposed controller is shown to ensure perfect output-reference tracking in presence of varying with l2-vanishing rate inputs. On the other hand, in the case of arbitrary inputs, the proposed controller guarantees that the less changing the inputs are the better the output-reference tracking.
机译:我们考虑控制受多个饱和约束的植物的问题。特别是,我们对线性系统的输入感兴趣,该系统的输入受饱和类型的幅度和速率约束。此外,所考虑的系统输出也遭受固有饱和。然后,旨在设计兼容的输出参考轨迹的全局(渐近)输出跟踪,我们遵循直接方法(在调节器设计中考虑了约束)提出了一种合适的饱和线性控制器。使用输入输出稳定性工具分析(非线性)闭环控制系统。因此,正式定义了保证l2跟踪性能的条件。有趣的是,所显示的控制器显示出在存在随着消失率输入变化的情况下确保完美的输出参考跟踪。另一方面,在任意输入的情况下,建议的控制器保证输入的变化越少,输出参考跟踪就越好。

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