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Actuator saturation and anti-windup compensation in event-triggered control

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Abstract

Event-triggered control aims at reducing the communication load over the feedback link in networked control systems by sending information only if certain event conditions, which guarantee a desired control performance, are satisfied. This article investigates the consequences of actuator saturation on the behavior of the event-triggered control loop in terms of its stability and information exchange. Stability properties are derived using linear matrix inequalities (LMIs) which show how the stability of the event-triggered control loop depends on the selection of the event threshold. Moreover, it is shown that a lower bound on the minimum inter-event time exists being likewise affected by the event threshold. As actuator saturation might severely degrade the performance of the event-triggered closed-loop system, the scheme is extended by incorporating an anti-windup mechanism in order to overcome this problem. The results are illustrated by simulations and experiments.

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Authors and Affiliations

  1. Automatic Control Laboratory, KTH Royal Institute of Technology, 10044, Stockholm, Sweden

    Georg Alexander Kiener, Daniel Lehmann & Karl Henrik Johansson

Authors
  1. Georg Alexander Kiener
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  2. Daniel Lehmann
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  3. Karl Henrik Johansson
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Corresponding author

Correspondence to Daniel Lehmann.

Additional information

This work was supported by the VINNOVA project WiComPI, the Knut and Alice Wallenberg Foundation, the Swedish Research Council, and the HYCON2 EU project.

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Kiener, G.A., Lehmann, D. & Johansson, K.H. Actuator saturation and anti-windup compensation in event-triggered control. Discrete Event Dyn Syst 24, 173–197 (2014). https://doi.org/10.1007/s10626-012-0151-1

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  • DOI: https://doi.org/10.1007/s10626-012-0151-1

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