Anti-Windup Controller Design for a Multi-Propeller Aerostat

作者：Liu, Fen; Chen, Li^*; Duan, Dengping

来源：Journal of Shanghai Jiaotong University, 2017, 51(2): 157-165.

DOI：10.16183/j.cnki.jsjtu.2017.02.005

• Anti-windup
• Asymmetric constraints
• Controller design method
• Multi-propeller aerostat
• Performance analysis
• Quadratic lyapunov function
• Saturation constraints
• Saturation nonlinearity

Two controller design methods, direct method and indirect method, are used to design anti-windup controller for the multi-propeller aerostat with asymmetric actuator constraints. A linear transformation is applied to transfer the asymmetric constraint into a symmetric one. As a result, the generalized sector condition is used to deal with the saturation nonlinearity. By using a quadratic Lyapunov function, linear matrix inequality (LMI) based synthesis condition is presented to address the problem of L2performance analysis of the saturation constraint closed-loop system. The indirect method and the direct method are applied to design controller. The solution of the controller is transformed to a convex optimization expressed in a LMI form and solved by YALMIP toolbox. Finally, simulation results of the direct method and the indirect method show their effectiveness.

• 出版日期2017
• 单位上海交通大学