Saturations-based nonlinear controllers with integral term: validation in real-time.

COSTANZA, V

Mathematical Reviews

American Mathematical Society

Lugar: Providence; Año: 2016

In this paper the authors discuss and illustrate, through simulations and experiments, the stabilization of linear approximations to certain nonlinear systems, involving three configurations of the control strategy. It is assumed that the manipulated variable is bounded, and that it will actually become saturated in practice. The authors attemptto counteract this lack of regulation power by artificially adding an integral term to the control function. Utilizing the Lyapunov function method, the authors are able to partially confirm convergence to equilibrium in all cases, but the algorithms show particular advantages and disadvantages that will interest the practically orientedreader. Experiments in presence of perturbations and delays are performed on aerial vehicle prototypes, and comparisons against the simulation predictions are reported. The results seem encouraging, although the consistency of the theoretical framework appears somewhat elusive.