This paper proposes a saturated nonlinear PID regulator for industrial robot manipulators. Our controller considers the natural saturation problem given by the output of the control computer, the saturation phenomena of the internal PI velocity controller in the servo driver, and the actuator torque constraints of the robot manipulator. An approach based on the singular perturbations method is ...

The practical stabilization problem is investigated for a class of linear systems with actuator saturation and input additive disturbances. Firstly, the case of the input additive disturbance being a bounded constant and a variety of different situations of system matrices are studied for the three-dimensional linear system with actuator saturation, respectively. By applying the Riccati equatio...

In this paper, we address the control design problem for discrete-time systems subject to actuator amplitude and rate saturation. In particular, we develop linear matrix inequality formulations for the full-state feedback and dvnamic, outDut feedback control desinns for discretetim;! systems wiih simultaneous actuator amditude and rate saturation. Furthermore, we provide a direct methodology to...

This paper studies a new nested switching control (NSC) scheme for piezoelectric (PZT) actuators to achieve fast nanopositioning. Conventional PZT controllers typically neglect the actuator saturation nonlinearity for design simplicity but at the cost of reduced performance. By optimizing a quadratic performance cost function that explicitly involves the actuator saturation, the NSC can not onl...

This paper is concerned with the problem of state feedback control for nonlinear quadratic systems with randomly occurring actuator saturation. The considered actuator saturation is assumed to occur in a random way, and the randomly occurring rates of the saturation are time-varying with known upper and lower bounds. By using the Lyapunov approach, a sufficient condition is given to guarantee t...

As a very serious problem for control systems, actuator saturation often leads to an unstable system. The maneuvering flight of quadrotors may lead saturation, which commonly affects the quality, including trajectory-tracking accuracy. Quadrotors usually adopt double-closed-loop control, outer loop is position used calculate desired attitude angle and inner generate actions vehicle. To address ...

In this paper, improved conditions for the synthesis of static state-feedback controller are derived to stabilize networked control systems (NCSs) subject to actuator saturation. Both of the data packet latency and dropout which deteriorate the performance of the closed-loop system are considered in the NCS model via variable delays. Two different techniques are employed to incorporate actuator...

Robust Linear Filter Design via LMIs and Controller Design with Actuator Saturation via SOS Programming

For LTI control systems, we provide mathematical tools – in terms of Linear Matrix Inequalities – for computing outer ellipsoidal bounds on the reachable sets that attacks can induce in the system when they are subject to the physical limits of the actuators. Next, for a given set of dangerous states, states that (if reached) compromise the integrity or safe operation of the system, we provide ...