Premium
Stabilization of n integrators in cascade with bounded input with experimental application to a VTOL laboratory system
Author(s) -
Sanahuja G.,
Castillo P.,
Sanchez A.
Publication year - 2009
Publication title -
international journal of robust and nonlinear control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.361
H-Index - 106
eISSN - 1099-1239
pISSN - 1049-8923
DOI - 10.1002/rnc.1494
Subject(s) - cascade , integrator , control theory (sociology) , lyapunov function , bounded function , controller (irrigation) , stability (learning theory) , computer science , mathematics , state (computer science) , control (management) , engineering , nonlinear system , algorithm , physics , mathematical analysis , artificial intelligence , computer network , agronomy , bandwidth (computing) , quantum mechanics , chemical engineering , machine learning , biology
Abstract This paper presents a global stabilization of a chain of n integrators in cascade. The control strategy is obtained using the Lyapunov approach and separated saturation functions. Moreover, the stability analysis is obtained using the recurrence theorem. This generalized control law is designed in order to quickly implement it on a system, as choosing a degree n gives all conditions to have a stable system. Moreover, in the proposed controller the saturation function bound only one state. This allows us to easily tune the control parameters. Simulations and real‐time experiments are presented for the VTOL platform represented as a chain of two and four integrators in cascade. Copyright © 2009 John Wiley & Sons, Ltd.