Anti-windup Compensation for Nonlinear Systems via Gradient Projection: Application to Adaptive Control
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How_Anti-windupCompensation.pdf
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Author(s)
Teo, Chun Sang
How, Jonathan P.
Date Issued
December 2009
Journal
Proceedings of the 48th IEEE Conference on Decision and Control & 28th Chinese Control Conference, Shanghai, China, Dec. 2009.
Publisher
Institute of Electrical and Electronics Engineers
Citation
Teo, Justin and Jonathan P. How. "Anti-windup Compensation for Nonlinear Systems via Gradient Projection: Application to Adaptive Control," in Proceedings of the 48th IEEE Conference on Decision and Control & 28th Chinese Control Conference, Shanghai, China, Dec. 2009, pp. 6910 - 6916.
Version
Original manuscript
Abstract
Control saturation is an important limitation in
practical control systems and it is well known that performance
degradation or instability may result if this limitation is not
effectively addressed. Using ideas from the gradient projection
method in nonlinear programming, we propose a new antiwindup
scheme for multi-input, multi-output nonlinear dynamic
controllers. The key idea is to project the controller
state update law onto the tangent plane of the active saturation
constraints. To do this, we first extend the gradient projection
method to the continuous-time case that can accommodate
multiple nonlinear constraints. This is then used for anti-windup
compensation, resulting in a hybrid controller that switches
its state update law over arbitrary combinations of saturating
controls. Simulations on a nonlinear two-link robot driven by
an adaptive sliding mode controller illustrates its effectiveness
and limitations.
MIT Department
Massachusetts Institute of Technology. Department of Aeronautics and Astronautics
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