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Controls, Autonomy and Robotics Seminar
Actuator saturation: Old problem, new tricks, and some unusual applications
Faryar Jabbari
Professor
Mechanical and Aerospace Engineering, University of California, Irvine
Friday, August 23, 2019, 11:00 am
ASE 2.202

Actuator limitation is one of the oldest problems in control design and a large number of techniques and approaches exist that are aimed at addressing the resulting performance and stability degradations. For applications in which saturation is encountered infrequently, an effective and popular technique has been to augment a high-performance controller with an anti-windup loop that becomes active only when actuators saturate and is deactivated once the input commands are below the limits.  In this talk two extensions/enhancements of the basic anti-windup approach are motivated and presented.  Finally, applications to multi-agent leader-follower and containment control are discussed, along with an unusual application to A/D modulators.   

Contact  Dr. Ufuk Topcu utopcu@utexas.edu

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