Stabilization of Integrator Chains in the Presence of Magnitude and Rate Saturations: A Gain Scheduling Approach

Trygve Lauvdal, Richard M. Murray, Thor I. Fossen
1997 Conference on Decision and Control

Motivated by some specific problems in flight control and roll stabilization of ships, we present a gain scheduling technique for stabilizing integrator chains in the presence of magnitude and rate limitations on the input. The controller was first presented in (Lauvdal, 1997), where it showed excellent experimental results on a pitch axis flight control experiment at Caltech in the case of input rate limits only. A proof showing convergence for the closed loop system is given. The controller has several interesting features, e.g. it is easy to tune and it gives a minimal loss in performance. These properties are illustrated in a simulation study.

Conference paper (PDF, 98K, 2 pages)
Conference submission (PDF, 436K, 21 pages)
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