Static Anti-Windup for Global Regulation of Constrained Euler-Lagrange Systems

摘要

This paper presents a solution to the problem of static anti-windup for input-constrained Euler-Lagrange systems with global closed-loop stability. The importance of our results relies on the fact that, to the best of our knowledge, this problem is solved in this brief for the first time. Specifically, our main result consists of using a dynamic controller for which a static anti-windup gain is designed so that the global asymptotic stability is proven. Lyapunov’s theory and LaSalle’s Invariance Principle are used to show the global asymptotic stability of the equilibrium point. In order to verify our theoretical findings, real-time experimental results on a three degree-of-freedom robot manipulator are presented. The proposed controller is tested with and without the static anti-windup term in the dynamic extension. The performance is drastically improved with the introduced approach.