Abstract
Current methodologies for designing control systems usually ignore the effects of control saturations. Resulting controllers often produce undesirable behavior such as integrator wind-up, large overshoots, long settling times, and even instability, when implemented on the saturating system. This paper presents a systematic procedure for adapting a nominal controller, designed while ignoring control saturation, to a higher-performance nonlinear controller that explicitly accounts for the saturating nonlinearities while guaranteeing stability. In particular, the Error Governor scheme proposed by Kapasouris, Athans, and Stein [1] is extended for the class of controllers modeled with a feedforward term. The utility of this procedure is demonstrated on the vehicle platooning system introduced by Sheikholeslam and Desoer [5], which uses a nonlinear vehicle model and allows for non-identical vehicles in the platoon. The nominal controller presented for this system is nonlinear and inherently decentralized, thus posing a significant test on the practicality of the proposed method. Performance of the nominal compensator without saturations, nominal compensator with saturations, Error Governor, and Extended Error Governor is compared for a platoon of 15 cars. Results are that the saturating system causes significant wind-up. The Error Governor corrected system can eliminate wind-up at a cost to steady-state performance [3]. The proposed Extended Error Governor, however, eliminates wind-up while delivering the same steady state performance as the original platoon design.
| Original language | English (US) |
|---|---|
| Title of host publication | Proceedings of the American Control Conference |
| Pages | 296-300 |
| Number of pages | 5 |
| Volume | 1 |
| State | Published - 1995 |
| Externally published | Yes |
| Event | Proceedings of the 1995 American Control Conference. Part 1 (of 6) - Seattle, WA, USA Duration: Jun 21 1995 → Jun 23 1995 |
Other
| Other | Proceedings of the 1995 American Control Conference. Part 1 (of 6) |
|---|---|
| City | Seattle, WA, USA |
| Period | 6/21/95 → 6/23/95 |
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ASJC Scopus subject areas
- Control and Systems Engineering
Cite this
Performance enhancement for a class of saturating systems. / Warnick, Sean C.; Rodriguez, Armando.
Proceedings of the American Control Conference. Vol. 1 1995. p. 296-300.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
}
TY - GEN
T1 - Performance enhancement for a class of saturating systems
AU - Warnick, Sean C.
AU - Rodriguez, Armando
PY - 1995
Y1 - 1995
N2 - Current methodologies for designing control systems usually ignore the effects of control saturations. Resulting controllers often produce undesirable behavior such as integrator wind-up, large overshoots, long settling times, and even instability, when implemented on the saturating system. This paper presents a systematic procedure for adapting a nominal controller, designed while ignoring control saturation, to a higher-performance nonlinear controller that explicitly accounts for the saturating nonlinearities while guaranteeing stability. In particular, the Error Governor scheme proposed by Kapasouris, Athans, and Stein [1] is extended for the class of controllers modeled with a feedforward term. The utility of this procedure is demonstrated on the vehicle platooning system introduced by Sheikholeslam and Desoer [5], which uses a nonlinear vehicle model and allows for non-identical vehicles in the platoon. The nominal controller presented for this system is nonlinear and inherently decentralized, thus posing a significant test on the practicality of the proposed method. Performance of the nominal compensator without saturations, nominal compensator with saturations, Error Governor, and Extended Error Governor is compared for a platoon of 15 cars. Results are that the saturating system causes significant wind-up. The Error Governor corrected system can eliminate wind-up at a cost to steady-state performance [3]. The proposed Extended Error Governor, however, eliminates wind-up while delivering the same steady state performance as the original platoon design.
AB - Current methodologies for designing control systems usually ignore the effects of control saturations. Resulting controllers often produce undesirable behavior such as integrator wind-up, large overshoots, long settling times, and even instability, when implemented on the saturating system. This paper presents a systematic procedure for adapting a nominal controller, designed while ignoring control saturation, to a higher-performance nonlinear controller that explicitly accounts for the saturating nonlinearities while guaranteeing stability. In particular, the Error Governor scheme proposed by Kapasouris, Athans, and Stein [1] is extended for the class of controllers modeled with a feedforward term. The utility of this procedure is demonstrated on the vehicle platooning system introduced by Sheikholeslam and Desoer [5], which uses a nonlinear vehicle model and allows for non-identical vehicles in the platoon. The nominal controller presented for this system is nonlinear and inherently decentralized, thus posing a significant test on the practicality of the proposed method. Performance of the nominal compensator without saturations, nominal compensator with saturations, Error Governor, and Extended Error Governor is compared for a platoon of 15 cars. Results are that the saturating system causes significant wind-up. The Error Governor corrected system can eliminate wind-up at a cost to steady-state performance [3]. The proposed Extended Error Governor, however, eliminates wind-up while delivering the same steady state performance as the original platoon design.
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M3 - Conference contribution
AN - SCOPUS:0029181155
VL - 1
SP - 296
EP - 300
BT - Proceedings of the American Control Conference
ER -