Robust High-Gain Generalization of PID Controllers with Anti-Windup Compensation

被引：2

作者：

Borisov, Oleg I. ^{[1
]}

Tomashevich, Stanislav I. ^{[1
,2
]}

Gromov, Vladislav S. ^{[1
]}

Kakanov, Mikhail A. ^{[1
]}

Pyrkin, Anton A. ^{[1
]}

Bobtsov, Alexey A. ^{[1
,2
]}

机构：

[1] ITMO Univ, Dept Comp Sci & Control Syst, 49 Kronversky Pr, St Petersburg 197101, Russia

[2] Russian Acad Sci, Inst Problems Mech Engn, VO, 61 Bolshoj Pr, St Petersburg 199178, Russia

来源：

IFAC PAPERSONLINE | 2018年 / 51卷 / 04期

基金：

俄罗斯科学基金会;

关键词：

Robust control; Output regulation; Saturation control; Windup; Popov criterion; SIMPLE ADAPTIVE-CONTROL; PASSIFICATION; QUADCOPTERS; SYSTEMS;

D O I：

10.1016/j.ifacol.2018.06.090

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Generalization of PID controllers depending on the plant relative degree is addressed in the paper. The consecutive compensator approach is redesigned in the state-space representation and augmented with the integral loop and anti-windup scheme. The stability of the closed-loop system is proved. Efficiency of the proposed approach is illustrated by the experiments carried out using the 2-DOF indoor quadcopter testbed. (C) 2018, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.

引用

页码：352 / 357

页数：6

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