Please use this identifier to cite or link to this item: http://hdl.handle.net/2381/40532
Title: Anti-windup design for input-coupled double integrator systems with application to quadrotor UAV's
Authors: Ofodile, Nkemdilim A.
Turner, Matthew C.
First Published: 10-Aug-2017
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.
DOI Link: 10.1016/j.ejcon.2017.07.002
ISSN: 0947-3580
Links: http://www.sciencedirect.com/science/article/pii/S0947358017302777?via%3Dihub
http://hdl.handle.net/2381/40532
Version: Post-print
Status: Peer-reviewed
Type: Journal Article
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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