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Anti-windup design for input-coupled double integrator systems with application to quadrotor UAV's

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journal contribution
posted on 2017-11-16, 09:50 authored by Nkemdilim A. Ofodile, Matthew C. Turner
This paper describes the development of an anti-windup scheme for systems which consist of a parallel set of double integrators preceded by a static coupling element and a saturation nonlinearity. A class of anti-windup compensators are proposed which can guarantee global asymptotic stability of the origin of the closed-loop system. Simple linear-like guidelines for choosing the anti-windup compensator parameters are also given. The anti-windup compensator designs are evaluated on a quadrotor unmanned aerial vehicle. Simulation results and flight tests are presented to demonstrate the effectiveness of this approach.

History

Citation

European Journal of Control, 2017, 38, pp. 22-31.

Author affiliation

/Organisation/COLLEGE OF SCIENCE AND ENGINEERING/Department of Engineering

Version

  • AM (Accepted Manuscript)

Published in

European Journal of Control

Publisher

Lavoisier (Hermes Science Publications) for European Union Control Association

issn

0947-3580

Acceptance date

2017-07-21

Copyright date

2017

Available date

2017-11-16

Publisher version

http://www.sciencedirect.com/science/article/pii/S0947358017302777?via=ihub

Language

en

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