Fully Actuated System Approach for Input-saturated Nonlinear System Based on Anti-windup Control.

This paper studies a class of input-saturated nonlinear systems with Lipschitz condition. We combine the fully actuated system approach with anti-windup control to design control system. The proposed control method has the advantages of both fully actuated system approach and anti-windup control. The main advantages are: (1) establishing a fully actuated system approach control framework based on anti-windup control. The controller of the nonlinear system can be written out immediately when a fully actuated system (FAS) model or a group of FAS models of the system is derived, simplifying the steps of control system analysis and design; (2) many actual systems are FAS models, and there is no need to convert the system into a state space model; (3) the anti-windup compensator works only when the actuator saturation occurs to ensure the stability of the control system. In fact, most of the time, the system operates in an unsaturated state, which means that in most cases, the system performance is not affected. A numerical simulation example is given to illustrate the effectiveness of the proposed method. [ABSTRACT FROM AUTHOR]