Performance enhancement for a class of saturating systems

Sean C. Warnick, Armando Rodriguez

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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 languageEnglish (US)
Title of host publicationProceedings of the American Control Conference
Pages296-300
Number of pages5
Volume1
StatePublished - 1995
Externally publishedYes
EventProceedings of the 1995 American Control Conference. Part 1 (of 6) - Seattle, WA, USA
Duration: Jun 21 1995Jun 23 1995

Other

OtherProceedings of the 1995 American Control Conference. Part 1 (of 6)
CitySeattle, WA, USA
Period6/21/956/23/95

Fingerprint

Governors
Controllers
Control nonlinearities
Nonlinear systems
Railroad cars
Control systems
Costs

ASJC Scopus subject areas

  • Control and Systems Engineering

Cite this

Warnick, S. C., & Rodriguez, A. (1995). Performance enhancement for a class of saturating systems. In Proceedings of the American Control Conference (Vol. 1, pp. 296-300)

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 proceedingConference contribution

Warnick, SC & Rodriguez, A 1995, Performance enhancement for a class of saturating systems. in Proceedings of the American Control Conference. vol. 1, pp. 296-300, Proceedings of the 1995 American Control Conference. Part 1 (of 6), Seattle, WA, USA, 6/21/95.
Warnick SC, Rodriguez A. Performance enhancement for a class of saturating systems. In Proceedings of the American Control Conference. Vol. 1. 1995. p. 296-300
Warnick, Sean C. ; Rodriguez, Armando. / Performance enhancement for a class of saturating systems. Proceedings of the American Control Conference. Vol. 1 1995. pp. 296-300
@inproceedings{a1bbd55ca7364c549316b8d60d4db645,
title = "Performance enhancement for a class of saturating systems",
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.",
author = "Warnick, {Sean C.} and Armando Rodriguez",
year = "1995",
language = "English (US)",
volume = "1",
pages = "296--300",
booktitle = "Proceedings of the American Control Conference",

}

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.

UR - http://www.scopus.com/inward/record.url?scp=0029181155&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=0029181155&partnerID=8YFLogxK

M3 - Conference contribution

AN - SCOPUS:0029181155

VL - 1

SP - 296

EP - 300

BT - Proceedings of the American Control Conference

ER -