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|Title:||Anti-windup design for input-coupled double integrator systems with application to quadrotor UAV's|
|Authors:||Ofodile, Nkemdilim A.|
Turner, Matthew C.
|Publisher:||Lavoisier (Hermes Science Publications) for European Union Control Association|
|Citation:||European Journal of Control, 2017, 38, pp. 22-31.|
|Abstract:||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.|
|Rights:||Copyright © 2017, Lavoisier (Hermes Science Publications) for European Union Control Association. Deposited with reference to the publisher’s open access archiving policy.|
|Appears in Collections:||Published Articles, Dept. of Engineering|
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|Paper_journal2016_finalv2_NK.pdf||Post-review (final submitted author manuscript)||1.2 MB||Adobe PDF||View/Open|
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