Tackling Actuator Saturation in Fixed Point Iteration-based Adaptive Control

Hazem Issa, Jozsef K. Tar

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

Abstract

The limited output of various drives means a challenge in controller design whenever the acceleration need of the nominal trajectory to be tracked temporarily exceeds the abilities of the saturated control system. The prevailing control design methods can tackle this problem either in a single theoretical step or in two consecutive steps. In this latter case in the first step the design happens without taking into account the actuator constraints, then apply a saturation compensator if the phenomenon of windup is observed. In the Fixed Point Iteration- based Adaptive Control (FPIAC) that has been developed as an alternative of the Lyapunov function-based approach the actuator saturation causes problems in its both elementary levels: in the kinematic/kinetic level where the desired acceleration is calculated, and in the iterative process that compensates the effects of modeling errors of the dynamic system under control and that of the external disturbances. The here presented approach tackles this problem in both levels by relatively simple considerations. To illustrate the method's efficiency simulation investigations were done in the FPIAC control of a modification of the van der Pol oscillator to which an additional strongly nonlinear term was added.

Original languageEnglish
Title of host publicationSACI 2020 - IEEE 14th International Symposium on Applied Computational Intelligence and Informatics, Proceedings
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages221-226
Number of pages6
ISBN (Electronic)9781728173764
DOIs
Publication statusPublished - May 2020
Event14th IEEE International Symposium on Applied Computational Intelligence and Informatics, SACI 2020 - Timisoara, Romania
Duration: May 21 2020May 23 2020

Publication series

NameSACI 2020 - IEEE 14th International Symposium on Applied Computational Intelligence and Informatics, Proceedings

Conference

Conference14th IEEE International Symposium on Applied Computational Intelligence and Informatics, SACI 2020
CountryRomania
CityTimisoara
Period5/21/205/23/20

Keywords

  • Actuator Saturation
  • Adaptive Control
  • Anti-windup
  • Banach Space
  • Fixed Point Iteration
  • Van der Pol Oscillator

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Science Applications
  • Information Systems
  • Information Systems and Management
  • Renewable Energy, Sustainability and the Environment
  • Computational Mathematics
  • Control and Optimization

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  • Cite this

    Issa, H., & Tar, J. K. (2020). Tackling Actuator Saturation in Fixed Point Iteration-based Adaptive Control. In SACI 2020 - IEEE 14th International Symposium on Applied Computational Intelligence and Informatics, Proceedings (pp. 221-226). [9118848] (SACI 2020 - IEEE 14th International Symposium on Applied Computational Intelligence and Informatics, Proceedings). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/SACI49304.2020.9118848