Anti‐windup synthesis for nonlinear dynamic inversion control schemes

A general anti-windup (AW) compensation scheme is provided for a class of input constrained feedback-linearizable nonlinear systems. The controller considered is an inner-loop nonlinear dynamic inversion controller, augmented with an outer-loop linear controller, of arbitrary structure. For open-loop globally exponentially stable plants, it is shown that (i) there always exists a globally stabilizing AW compensator corresponding to a nonlinear generalization of the Internal-Model-Control (IMC) AW solution; (ii) important operator theoretic parallels exist between the AW design scheme for linear control and the suggested AW design scheme for nonlinear affine plants and (iii) a more attractive AW compensator may be obtained by using a nonlinear state-feedback term, which plays a role similar to the linear state-feedback term in linear coprime factor-based AW compensation. The results are demonstrated on a dual-tank simulation example. Copyright © 2009 John Wiley & Sons, Ltd.

[1]  Siva S. Banda,et al.  Robust control law design for lateral‐directional modes of an F‐16/MATV using μ‐synthesis and dynamic inversion , 1997 .

[2]  Michel Kinnaert,et al.  Conditioning technique, a general anti-windup and bumpless transfer method , 1987, Autom..

[3]  Gary J. Balas,et al.  Flight control design using robust dynamic inversion and time-scale separation , 1996, Autom..

[4]  Peter J. Fleming,et al.  Evolutionary algorithms in control systems engineering: a survey , 2002 .

[5]  F. Doyle,et al.  An anti-windup scheme for multivariable nonlinear systems , 1997 .

[6]  Ra Hyde,et al.  Analysing the stability of NDI-based flight controllers with LPV methods , 2001 .

[7]  Guido Herrmann,et al.  Some new results on anti-windup-conditioning using the Weston-Postlethwaite approach , 2004, 2004 43rd IEEE Conference on Decision and Control (CDC) (IEEE Cat. No.04CH37601).

[8]  I. Postlethwaite,et al.  Practical implementation of a novel anti-windup scheme in a HDD-dual-stage servo-system , 2004, IEEE/ASME Transactions on Mechatronics.

[9]  I. Postlethwaite,et al.  A new perspective on static and low order anti-windup synthesis , 2004 .

[10]  Guido Herrmann,et al.  Performance-Oriented Antiwindup for a Class of Linear Control Systems With Augmented Neural Network Controller , 2007, IEEE Transactions on Neural Networks.

[11]  Masoud Soroush,et al.  A non-linear controller design method for processes with saturating actuators , 2003 .

[12]  Peter Hippe,et al.  Systematic closed-loop design in the presence of input saturations , 1999, Autom..

[13]  P. Daoutidis,et al.  An observer-based anti-windup scheme for non-linear systems with input constraints , 1999 .

[14]  Peter L. Lee,et al.  Analysis of decentralized integral controllability for nonlinear systems , 2004, Comput. Chem. Eng..

[15]  Matthew C. Turner,et al.  Case studies using linear matrix inequalities for optimal anti-windup synthesis , 2001, 2001 European Control Conference (ECC).

[16]  R. Reginatto,et al.  Analysis of regions of stability for linear systems with saturating inputs through an anti-windup scheme , 2002, Proceedings of the International Conference on Control Applications.

[17]  Ian Postlethwaite,et al.  Computation of worst-case pilot inputs for nonlinear flight control system analysis , 2006 .

[18]  David Naso,et al.  On-line genetic design of anti-windup unstructured controllers for electric drives with variable load , 2004, IEEE Transactions on Evolutionary Computation.

[19]  I. Postlethwaite,et al.  General Anti-windup synthesis for input constrained nonlinear systems controlled using nonlinear dynamic inversion , 2006, Proceedings of the 45th IEEE Conference on Decision and Control.

[20]  William L. Garrard,et al.  Nonlinear inversion flight control for a supermaneuverable aircraft , 1992 .

[21]  Shinji Hara,et al.  Effectiveness and limitation of circle criterion for LTI robust control systems with control input nonlinearities of sector type , 2005 .

[22]  I. Postlethwaite,et al.  Accounting for uncertainty in anti-windup synthesis , 2004, Proceedings of the 2004 American Control Conference.

[23]  Ian Postlethwaite,et al.  Linear conditioning for systems containing saturating actuators , 2000, Autom..

[24]  Howitt.  Application of Non-Linear Dynamic Inversion to Rotorcraft Flight Control , 2005 .

[25]  Alex Zheng,et al.  Anti-windup design for internal model control , 1994 .

[26]  Guido Herrmann,et al.  ANTI-WINDUP SYNTHESIS FOR NONLINEAR DYNAMIC INVERSION CONTROLLERS , 2006 .

[27]  Daigoro Ito,et al.  AIAA 2001-4380 Robust Dynamic Inversion Controller Design and Analysis for the X-38 , 2001 .

[28]  Luca Zaccarian,et al.  Nonlinear antiwindup applied to Euler-Lagrange systems , 2004, IEEE Transactions on Robotics and Automation.

[29]  Francis J. Doyle,et al.  An anti-windup input–output linearization scheme for SISO systems , 1999 .

[30]  Petros A. Ioannou,et al.  A Robust Adaptive Control Design for Gliders Subject to Actuator Saturation Nonlinearities , 2007, 2007 American Control Conference.

[31]  Guido Herrmann,et al.  Discrete-time and sampled-data anti-windup synthesis: stability and performance , 2006, Int. J. Syst. Sci..