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Autor(en):
Diepold, K. J.; Pieczona, S. J. 
Titel:
Tracking control with adaptively Allocated Maximum Input Amplitudes and Enlarged Domain of Attraction for linear systems 
Abstract:
We propose a novel method for designing a fast trajectory tracking controller based on a 2-DOF control structure for linear systems subject to input constraints. Major steps are: First, we derive a required decaying rate of a quadratic Lyapunov function (QLF) that enables an adaptation of the maximum input amplitudes reserved for error compensation. This adaptation is based on the current feedforward signal. Second, we show a saturating control law which ensures the existence of such a QLF. The...    »
 
Zeitschriftentitel:
52nd IEEE Conference on Decision and Control 
Jahr:
2013 
Monat:
dec 
Heft / Issue:
Seitenangaben Beitrag:
2090--2096 
Verlag / Institution:
Ieee