Anti-Windup Controller Design for a Multi-Propeller Aerostat

Abstract

Abstract:

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 L2 performance 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.

Key words: multi-propeller aerostat, controller, asymmetric constraints, anti-windup;linear matrix inequality (LMI)

CLC Number:

V 411.8

LIU Fen,CHEN Li,DUAN Dengping. Anti-Windup Controller Design for a Multi-Propeller Aerostat[J]. Journal of Shanghai Jiaotong University, 2017, 51(2): 157-.

References

［1］CHEN L, ZHANG H, DUAN D P. Control system design of a multivectored thrust stratospheric airship［J］. Proceedings of the Institution of Mechanical Engineers. Part G: Journal of Aerospace Engineering, 2013, 228(11): 2045-2054.
［2］张昊, 陈丽. 多螺旋桨浮空器LPV鲁棒变增益H∞控制［J］. 计算机仿真, 2014, 31(5): 72-77.
ZHANG Hao, CHEN Li. Robust variable gaincontrol for multipropeller aerostat based on LPV H∞ ［J］.Computer Simulation, 2014, 31(5): 72-77.
［3］吴风, 王景成, 方小生. 抗饱和控制的一些新进展［J］. 化工自动化及仪表, 2007, 34(2): 1-6.
WU Feng,WANG Jingcheng, FANG Xiaosheng. New developments in antiwindup control ［J］. Control and Instruments in Chemical Industry, 2007, 34(2): 1-6.
［4］TARBOURIECH S, GARCIA S, QUEINNEC I, et al. Stability and stabilization of linear systemswith saturating actuators ［M］. America: Springer, 2011.
［5］TARBOURIECH S, TURNER M. Antiwindup design: An overview of some recent advances and open problems［J］. IET Control Theory and Application, 2009, 3(1): 1-19.
［6］CASTELAN E B, TARBOURIECH S, GOMES DA SILVA JR J M, et al. L2Stabilization of continuoustime linear systems with saturating actuators［J］. International Journal of Robust and Nonlinear Control, 2006, 16(18): 935-944.
［7］BENHAYOUN M, BENZAOUIA A, MESQUINE F, et al. System stabilization by unsymmetrical saturated state feedback control ［C］∥Proceedings of the 3rd International Conference on Systems and Control. Algiers, Algeria: IEEE, 2013: 1-5.
［8］王乃洲, 裴海龙, 汤勇. 一类饱和非线性系统抗饱和控制器设计［J］. 控制与决策, 2015, 30(12): 2225-2232.
WANG Naizhou, PEI Hailong, TANG Yong. Antiwindup controller design for a class of nonlinear systems subject to actuator saturation ［J］. Control and Desig, 2015, 30(12): 2225-2232.
［9］BOYD S P. Linear matrix inequalities in system and control theory［J］. Robotics Automation, 1994, 85(5):798-799.
［10］LFBERG J , YALMIP A. A toolbox for modeling and optimization in MATLAB［J］. Optimization, 2004(3): 284-289.

[1]	LI Shaoyong (李绍勇), WANG Duo (王铎), HAN Xilian (韩喜莲), CHENG Kang (程康), ZHAO Chunrun (赵春润). Auto-Tuning Parameters of Fractional PID Controller Design for Air-Conditioning Fan Coil Unit [J]. J Shanghai Jiaotong Univ Sci, 2021, 26(2): 186-192.
[2]	CAI Hui, GAO Boyang, QI Wanchun, WU Xi, XIE Zhenjian, HUANG Junhui. A Coordination Control Strategy of Interline Power Flow Controller in Carbon Peaking and Carbon Neutrality [J]. Journal of Shanghai Jiao Tong University, 2021, 55(12): 1608-1618.
[3]	CAI Wentao, WANG Chunjiang, TENG Nianguan, WEN Quan. Analysis of Cross-Platform Coupling Vibration of Ultra-High-Speed Maglev Track Beam System [J]. Journal of Shanghai Jiao Tong University, 2021, 55(10): 1228-1236.
[4]	HAN Honggui, YANG Shiheng, ZHANG Lu, QIAO Junfei. Optimal Control of Effluent Ammonia Nitrogen for Municipal Wastewater Treatment Process [J]. Journal of Shanghai Jiaotong University, 2020, 54(9): 916-923.
[5]	QI Jiyan, JIN Jiaqi, FU Jingshun. Yaw Stability Control of Carrier-Based Aircraft Towbarless Tractor Carrier [J]. Journal of Shanghai Jiaotong University, 2020, 54(9): 943-952.
[6]	ZHENG Dongdong, LI Pengcheng, XIE Wenfang, LI Dan . Identification and Control of Flexible Joint Robot Using Multi-Time-Scale Neural Network [J]. Journal of Shanghai Jiao Tong University(Science), 2020, 25(5): 553-560.
[7]	LI Jie (李杰), LIU Yongzhi (刘勇智), SHAN Chenglong (鄯成龙), DAI Cong (戴聪). Implementation of Simplified Fractional-Order PID Controller Based on Modified Oustaloup's Recursive Filter [J]. Journal of Shanghai Jiao Tong University (Science), 2020, 25(1): 44-50.
[8]	CHEN Jianwen,GONG Chengjun. Analysis and Treatment of Fault for Rod Position System [J]. Journal of Shanghai Jiaotong University, 2019, 53(Sup.1): 33-44.
[9]	CHEN Qi,LI Gelun. Towing Winch Control System for a New Cable Laying Ship [J]. Journal of Shanghai Jiaotong University, 2019, 53(8): 990-999.
[10]	WANG Jian, ZHAO Hongyu, ZHONG Jihong, WANG Mengyu, CAI Zhijun. Robust Controller Design for Near Space Vehicle [J]. Air & Space Defense, 2019, 2(3): 53-58.
[11]	LI Donghui,ZHENG Hongyu,YAO Lele. Analysis on Hybrid Automata Model of Three-Phase Grid Inverter [J]. Journal of Shanghai Jiaotong University, 2019, 53(3): 348-354.
[12]	MENG Yu *(孟宇), GAN Xin (甘鑫), WANG Yu (汪钰), GU Qing (顾青). LQR-GA Controller for Articulated Dump Truck Path Tracking System [J]. Journal of Shanghai Jiao Tong University (Science), 2019, 24(1): 78-85.
[13]	WANG Limin (王立敏), WANG Runze (王润泽), XIONG Yuting (熊玉婷), WANG Haosen (王浩森), ZHU Lin (朱琳), ZHANG Ke (张可), GAO Furong (高福荣). Guaranteed Cost Iterative Learning Control for Multi-Phase Batch Processes [J]. Journal of Shanghai Jiao Tong University (Science), 2018, 23(6): 811-819.
[14]	TANG Xianlun (唐贤伦), LIU Nianci (刘念慈), WAN Yali (万亚利), GUO Fei (郭飞). Multi-Step Model Predictive Control Based on Online Support Vector Regression Optimized by Multi-Agent Particle Swarm Optimization Algorithm [J]. Journal of Shanghai Jiao Tong University (Science), 2018, 23(5): 607-612.
[15]	YUE Caichenga (岳才成), CHEN Hongbina (陈红彬), QIAN Linfanga (钱林方), KONG Jianshoub (孔建寿). Adaptive Sliding-Mode Tracking Control for an Uncertain Nonlinear SISO Servo System with a Disturbance Observer [J]. Journal of Shanghai Jiao Tong University (Science), 2018, 23(3): 376-.