Anti-windup design for directionality compensation with application to quadrotor UAVs
| Autor: | P. Ghignoni, Nicoló Buratti, Davide Invernizzi, Marco Lovera |
|---|---|
| Jazyk: | angličtina |
| Rok vydání: | 2021 |
| Předmět: |
Control and Optimization
Computer science quadrotor Anti-windup design saturated MIMO systems directionality quadrotor DLAW Anti-windup design saturated MIMO systems directionality Control and Systems Engineering Control theory DLAW Yaw control Directionality Position control Anti windup Mimo systems |
| Zdroj: | Politecnico di Milano-IRIS |
| Popis: | In this letter we propose an anti-windup strategy to counteract directionality effects arising in saturated MIMO systems in which independent dynamical subsystems are coupled through a static mixing of the inputs. Since such systems are affected by undesired input cross-couplings when saturation occurs, we propose an anti-windup augmentation scheme built on top of the baseline controller and tailored to achieve satisfactory time-domain performance for reference signals of interest. Motivated by the quadrotor application, in which position control has higher priority over yaw control for safety reasons, we embed in the anti-windup synthesis procedure the possibility to prioritize the level of performance degradation during saturation for the different system outputs. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
|