Title :
A new method of controller design for systems with input constraints using interpolation functions
Author :
Wredenhagen, G.F.
Author_Institution :
Human Factors Div., Defence & Civil Inst. of Environ. Med., North York, Ont., Canada
Abstract :
We present a LQ-based control law that increases the LQ gain as the system trajectory converges towards the origin in the presence of asymmetric input constraints. A gain interpolation function is used to ensure that gain increases occur in a continuous manner. This extends previous work of Wredenhagen and Belanger (1994) in which gain increases are piecewise-constant. A simulation is done for the linearized dynamics of the simple pendulum
Keywords :
control system synthesis; interpolation; linear quadratic control; LQ-based control law; asymmetric input constraints; continuous LQ gain increases; controller design; gain interpolation function; input constraints; linearized dynamics; simple pendulum; system trajectory convergence; Control system synthesis; Control systems; Design methodology; Ellipsoids; Human factors; Interpolation; Medical control systems; Medical robotics; Piecewise linear techniques; Programmable control;
Conference_Titel :
Decision and Control, 1994., Proceedings of the 33rd IEEE Conference on
Conference_Location :
Lake Buena Vista, FL
Print_ISBN :
0-7803-1968-0
DOI :
10.1109/CDC.1994.411278
