Decentralised approaches to Anti-windup Design with Application to Quadrotor Unmanned Aerial Vehicles
- Submitting institution
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The University of Leicester
- Unit of assessment
- 12 - Engineering
- Output identifier
- 1488
- Type
- D - Journal article
- DOI
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10.1109/TCST.2016.2521799
- Title of journal
- IEEE Transactions on Control Systems Technology
- Article number
- -
- First page
- 1980
- Volume
- 24
- Issue
- 6
- ISSN
- 1063-6536
- Open access status
- Out of scope for open access requirements
- Month of publication
- February
- Year of publication
- 2016
- URL
-
-
- Supplementary information
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https://doi.org/10.1109/TCST.2016.2521799
- Request cross-referral to
- -
- Output has been delayed by COVID-19
- No
- COVID-19 affected output statement
- -
- Forensic science
- No
- Criminology
- No
- Interdisciplinary
- No
- Number of additional authors
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1
- Research group(s)
-
-
- Proposed double-weighted
- No
- Reserve for an output with double weighting
- No
- Additional information
- It is shown, for the first time, how simple decentralised anti-windup compensators can be combined effectively for multivariable plants. This is important because anti-windup compensators, required in practical applications to mitigate actuator saturation effects and avoid catastrophic instabilities, have been mostly designed for centralised systems only. Rigorous mathematical stability guarantees are given and experimental results on a UAV are reported. The work was supported by a Nigerian Air Force PhD scholarship. The work has attracted interest from US researchers (chris.richards@louisville.edu) investigating the stability of UAV's in strong winds.
- Author contribution statement
- -
- Non-English
- No
- English abstract
- -