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A Delay-Dependent Anti-Windup Compensator for Wide-Area Power Systems With Time-Varying Delays and actuator saturation

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IEEE/CAA Journal of Automatica Sinica 2020年第1期7卷 106-117页

作者： Maddela Chinna Obaiah Bidyadhar Subudhi Department of Electrical Engineering National Institute of TechnologyRourkela 769008India School of Electrical Sciences Indian Institute of TechnologyFarmagudiGoa 403401India

In this paper, a delay-dependent anti-windup compensator is designed for wide-area power systems to enhance the damping of inter-area low-frequency oscillations in the presence of time-varying delays and actuator saturation using an indirect approach. In this approach, first, a conventional wide-area damping controller is designed by using output feedback with regional pole placement approach without considering time-varying delays and actuator saturation. Then to mitigate the effect of both time-varying delays and actuator saturation, an add-on delay-dependent anti-windup compensator is designed. Based on generalized sector conditions, less conservative delay-dependent sufficient conditions are derived in the form of a linear matrix inequality(LMI) to guarantee the asymptotic stability of the closedloop system in the presence of time-varying delays and actuator saturation by using Lyapunov-Krasovskii functional and Jensen integral inequality. Based on sufficient conditions, the LMI-based optimization problem is formulated and solved to obtain the compensator gain which maximizes the estimation of the region of attraction and minimizes the upper bound of-gain. Nonlinear simulations are performed first using MATLAB/Simulink on a two-area four-machine power system to evaluate the performance of the proposed controller for two operating conditions, e.g.,3-phase to ground fault and generator 1 terminal voltage variation. Then the proposed controller is implemented in real-time on an OPAL-RT digital simulator. From the results obtained it is verified that the proposed controller provides sufficient damping to the inter-area oscillations in the presence of time-varying delays and actuator saturation and maximizes the estimation of the region of attraction.

关键词： Anti-windup compensator actuator saturation FACTS devices H∞ controller inter-area oscillations LMI time delay

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Finite-time control of formation system for multiple flight vehicles subject to actuator saturation

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Journal of Systems Engineering and Electronics 2020年第5期31卷 1019-1030页

作者： ZHAO Enjiao ZHONG Zenan ZHENG Xin School of Automation Harbin Engineering UniversityHarbin 150001China Shanghai Academy of Spaceflight Technology Shanghai 200233China

This paper investigates the problem of formation tracking control for multiple flight vehicle(MFV) system considering actuator saturation constraints. First, the formation tracking control model is established. Then, the problem of formation control of the MFV system is converted to the convergence of a dynamical system, which is obtained by using the differential geometry theory.A class of saturation functions is introduced, and on this basis a second-order finite-time formation control protocol is *** the help of the homogeneous theory and Lasalle's invariance principle, it is theoretically proved that the designed formation protocol could complete the formation task in finite time, and the control inputs are shown to remain within their available actuating limits. Finally, simulations are performed to verify the effectiveness of the scheme.

关键词： formation control multiple flight vehicle(MFV) finite-time actuator saturation

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Nonlinear stochastic optimal bounded control of hysteretic systems with actuator saturation

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Journal of Zhejiang University-Science A(Applied Physics & Engineering) 2008年第3期9卷 351-357页

作者： Rong-hua HUAN Wei-qiu ZHU Yong-jun WU Department of Mechanics State Key Laboratory of Fluid Power Transmission and Control Zhejiang University Hangzhou 310027 China College of Information Science and Engineering East China University of Science and Technology Shanghai 200237 China

A modified nonlinear stochastic optimal bounded control strategy for random excited hysteretic systems with actuator saturation is proposed. First, a controlled hysteretic system is converted into an equivalent nonlinear nonhysteretic stochastic system. Then, the partially averaged Itoe stochastic differential equation and dynamical programming equation are established, respectively, by using the stochastic averaging method for quasi non-integrable Hamiltonian systems and stochastic dynamical programming principle, from which the optimal control law consisting of optimal unbounded control and bang-bang control is derived. Finally, the response of optimally controlled system is predicted by solving the Fokker-Planck-Kolmogorov （FPK） equation associated with the fully averaged Itoe equation. Numerical results show that the proposed control strategy has high control effectiveness and efficiency.

关键词： Hysteretic system Stochastic averaging Optimal control Dynamical programming actuator saturation

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Distributed fixed-time attitude coordinated control for multiple spacecraft with actuator saturation

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Chinese Journal of Aeronautics 2022年第4期35卷 292-302页

作者： Han GAO Yuanqing XIA Xiaopu ZHANG Guangchen ZHANG School of Automation Beijing Institute of TechnologyBeijing 100081China

This paper investigates the distributed fixed-time attitude coordinated control problem for multiple spacecraft subject to actuator saturation under the directed topology. First, a distributed fixed-time observer is presented for each follower spacecraft to estimate the leader spacecraft’s states. Compared with the commonly used fixed-time observer, the settling time of the proposed fixed-time observer can be easily adjusted by some free design parameters. Next, a distributed fixed-time control scheme is derived by using the estimates of the leader spacecraft’s states and the adding a power integrator technique. When considering actuator saturation, an auxiliary system is utilized to compensate the saturation. Further, a rigorous theoretical proof is provided to show that the practical fixed-time stability of the closed-loop system is ensured. Finally, simulation results illustrate the benefits and effectiveness of the developed control scheme.

关键词： Multiple spacecraft Distributed attitude control Fixed-time observer Fixed-time controller actuator saturation

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Control and Optimization of Sampled-Data Systems with Quantization and actuator saturation

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Journal of Systems Science & Complexity 2017年第6期30卷 1242-1257页

作者： SHAO Hanyong ZHAO Jianrong Institute of Automation Qufu Normal University Qufu 273165 China

This paper is concerned with control and optimization for a sampled-data system with quantization and actuator saturation. Based quantization and actuator saturation a controller is introduced. The corresponding closed loop system is transformed into a system with input saturation and bounded external disturbance. A new Lyapunov functional is constructed to derive a sample-interval dependent condition on the existence of a state feedback controller such that the closed-loop system is exponentially convergent to an ultimate ellipsoid for the initial condition starting from some initial ellipsoid. Based on the condition, the desired controller is designed. Furthermore, optimization problems about the sample-interval, the ultimate ellipsoid and the initial ellipsoid are formulated. An example is given to illustrate the effectiveness of the proposed method.

关键词： actuator saturation exponential converge quantization sampled-data system

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PID Control of Planar Nonlinear Uncertain Systems in the Presence of actuator saturation

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IEEE/CAA Journal of Automatica Sinica 2022年第1期9卷 90-98页

作者： Xujun Lyu Zongli Lin College of Engineering Huazhong Agricultural UniversityWuhan 430070China Charles L.Brown Department of Electrical and Computer Engineering University of VirginiaP.O.Box 400743CharlottesvilleVA 22904-4743 USA

This paper investigates PID control design for a class of planar nonlinear uncertain systems in the presence of actuator *** on the bounds on the growth rates of the nonlinear uncertain function in the system model,the system is placed in a linear differential *** vertex system of the linear differential inclusion is a linear system subject to actuator *** placing the saturated PID control into a convex hull formed by the PID controller and an auxiliary linear feedback law,we establish conditions under which an ellipsoid is contractively invariant and hence is an estimate of the domain of attraction of the equilibrium point of the closed-loop *** equilibrium point corresponds to the desired set point for the system ***,the location of the equilibrium point and the size of the domain of attraction determine,respectively,the set point that the output can achieve and the range of initial conditions from which this set point can be *** on these conditions,the feasible set points can be determined and the design of the PID control law that stabilizes the nonlinear uncertain system at a feasible set point with a large domain of attraction can then be formulated and solved as a constrained optimization problem with constraints in the form of linear matrix inequalities(LMIs).Application of the proposed design to a magnetic suspension system illustrates the design process and the performance of the resulting PID control law.

关键词： actuator saturation domain of attraction nonlinear systems PID control uncertainties

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PARALLEL SIMULTANEOUS STABILIZATION OF A SET OF PORT-CONTROLLED HAMILTONIAN SYSTEMS SUBJECT TO actuator saturation

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Journal of Systems Science & Complexity 2011年第1期24卷 120-139页

作者： Airong WEI Yuzhen WANG Xiaoming HU School of Control Science and Engineering Shandong University Jinan 250061 ChinaOptimization and Systems Theory Royal Institute of Technology SE-10044 Stockholm Sweden School of Control Science and Engineering Shandong University Jinan 250061 China Optimization and Systems Theory Royal Institute of Technology SE-100 44 Stockholm Sweden ACCESS Linnaeus Center Royal Institute of Technology SE-100 44 Stockholm Sweden

This paper investigates parallel simultaneous stabilization （PSS） of a set of multi-input nonlinear Port-Controlled Hamiltonian （PCH） systems subject to actuator saturation （AS）, and proposes a number of results on the design of PSS controllers for the PCH systems with AS. Firstly, the case of two PCH systems with AS is studied. Exploring the special property of the saturation nonlinearity and the structural properties of dissipative Hamiltonian system, the two systems are combined to generate an augmented PCH system, with which some results on the control design are then obtained. When there are external disturbances in the two systems, a robust PSS controller is designed for the systems. Secondly, the case of more than two PCH systems with AS is investigated, and several new results are proposed for the PSS problem. Finally, two illustrative examples are presented to show that the stabilization controllers obtained in this paper work very well.

关键词： actuator saturation PCH system robust parallel simultaneous stabilization

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STOCHASTIC OPTIMAL CONTROL OF STRONGLY NONLINEAR SYSTEMS UNDER WIDE-BAND RANDOM EXCITATION WITH actuator saturation

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Acta Mechanica Solida Sinica 2008年第2期21卷 116-126页

作者： Changshui Feng Weiqiu Zhu Department of Mechanics State Key Laboratory of Fluid Power Transmission and ControlZhejiang University Hangzhou 310027 China

A bounded optimal control strategy for strongly non-linear systems under non-white wide-band random excitation with actuator saturation is proposed. First, the stochastic averaging method is introduced for controlled strongly non-linear systems under wide-band random excitation using generalized harmonic functions. Then, the dynamical programming equation for the saturated control problem is formulated from the partially averaged Itō equation based on the dynamical programming principle. The optimal control consisting of the unbounded optimal control and the bounded bang-bang control is determined by solving the dynamical programming equation. Finally, the response of the optimally controlled system is predicted by solving the reduced Fokker-Planck-Kolmogorov （FPK） equation associated with the completed averaged Itō equation. An example is given to illustrate the proposed control strategy. Numerical results show that the proposed control strategy has high control effectiveness and efficiency and the chattering is reduced significantly comparing with the bang-bang control strategy.

关键词： nonlinear system optimal control actuator saturation stochastic averaging Wide-band random excitation

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Further control synthesis for time-delay systems with actuator saturation

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控制理论与应用（英文版） 2013年第1期11卷 128-131页

作者： Mao WANG Yue GU Xianwei LI Space Control and Inertial Technology Research Center Harbin Institute of Technology Shanghai Aerospace Control Engineering Institute

This paper is concerned with the control synthesis problem for systems with time-varying delay and actuator saturation. A new controller design method is proposed in which auxiliary feedback matrix method is adopted to handle the saturation term in the system. The improvement of the proposed method lies in the application of delay partitioning idea to further enlarge the estimated domain of attraction. All the results are given in terms of linear matrix inequalities. Finally, a numerical example is provided to demonstrate the effectiveness and superiority of our obtained results.

关键词： Time-delay systems actuator saturation Attraction domain Delay partitioning

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Relative Position and Attitude Control for Drag-Free Satellite with Prescribed Performance and actuator saturation

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Transactions of Nanjing University of Aeronautics and Astronautics 2019年第4期36卷 617-627页

作者： TAO Jiawei ZHANG Tao Department of Automation Tsinghua UniversityBeijing 100084P.R.China

An adaptive prescribed performance control scheme is proposed for the drag free satellite in the presence of actuator saturation and external *** relative translation and rotation dynamics between the test mass and outer satellite are firstly *** guarantee prescribed performance bounds on the transient and steady control errors of relative states,a performance constrained control law is formulated with an error transformed *** addition,the requirements to know the system parameters and the upper bound of the external disturbance in advance have been eliminated by adaptive updating technique.A command filter is concurrently used to overcome the problem of explosion of complexity inherent in the backstepping control ***,a novel auxiliary system is constructed to compensate the adverse effects of the actuator saturation *** is proved that all signals in the closed?loop system are ultimately bounded and prescribed performance of relative position and attitude control errors are ***,numerical simulation results are given to demonstrate the effectiveness of the proposed approach.

关键词： relative position and attitude control drag‑free satellite command filter prescribed performance actuator saturation

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