TY - GEN
T1 - Nonlinear setpoint regulation of dynamically redundant actuators
AU - Passenbrunner, Thomas Ernst
AU - Sassano, Mario
AU - Zaccarian, Luca
PY - 2012/6
Y1 - 2012/6
N2 - In this paper we propose a control scheme to induce optimal input allocation of dynamically redundant nonlinear actuators whose dynamics satisfies some suitable regularity and stability assumption. The allocation scheme is parametrized by a cost function associated with the most desirable actuator configuration and guarantees convergence to the desired set point as well as to the minimum of the cost function. The overall scheme is also shown to reduce, in some special cases, to a nonlinear version of a PI type of control action. The proposed technique is illustrated on a simulation example inspired by an industrial application.
AB - In this paper we propose a control scheme to induce optimal input allocation of dynamically redundant nonlinear actuators whose dynamics satisfies some suitable regularity and stability assumption. The allocation scheme is parametrized by a cost function associated with the most desirable actuator configuration and guarantees convergence to the desired set point as well as to the minimum of the cost function. The overall scheme is also shown to reduce, in some special cases, to a nonlinear version of a PI type of control action. The proposed technique is illustrated on a simulation example inspired by an industrial application.
UR - https://www.scopus.com/pages/publications/84869413763
U2 - 10.1109/acc.2012.6315515
DO - 10.1109/acc.2012.6315515
M3 - Conference proceedings
SN - 9781457710957
T3 - Proceedings of the American Control Conference
SP - 973
EP - 978
BT - Proceedings of the American Control Conference 2012
ER -