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Communication Dans Un Congrès Année : 2021

Energy-based design of dynamic allocation in the presence of saturating actuators

Résumé

This paper addresses the design of dynamic allocation functions for systems with saturating actuators. The novelty of the proposal relies on the use of an anti-windup loop to drive the state of the allocator, which in some sense dynamically compensates the difference between the computed control signal and the plant input. Furthermore, the co-design of the allocator and anti-windup loop is presented, allowing to deal with the multiple objective of reducing the allocator error and increasing the closed-loop region of stability. Theoretical conditions are derived in terms of linear matrix inequalities (LMIs) and an optimization scheme consisting in the minimization of the energy of the allocator error is proposed. Two examples borrowed from the literature illustrate the proposed technique and show its effectiveness.
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Dates et versions

hal-03192785 , version 1 (09-04-2021)

Identifiants

Citer

Thiago A Lima, Sophie Tarbouriech, Bismark C Torrico, Fabrício G Nogueira. Energy-based design of dynamic allocation in the presence of saturating actuators. 24th International Symposium on Mathematical Theory of Networks and Systems MTNS 2020, Aug 2021, Cambridge, United Kingdom. ⟨10.1016/j.ifacol.2021.06.087⟩. ⟨hal-03192785⟩
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