Direct Data-Driven Control with Embedded Anti-Windup Compensation

Valentina Breschi, Simone Formentin
Proceedings of the 2nd Conference on Learning for Dynamics and Control, PMLR 120:46-54, 2020.

Abstract

Input saturation is an ubiquitous nonlinearity in control systems and arises from the fact that all actuators are subject to a maximum power, thereby resulting in a hard limitation on the allowable magnitude of the input effort. In the scientific literature, anti-windup augmentation has been proposed to recover the desired linear closed-loop dynamics during transients, but the effectiveness of such a compensation is strongly linked to the accuracy of the mathematical model of the plant. In this work, it is shown that a feedback controller with embedded anti-windup compensator can be directly identified from data, by suitably extending the existing data-driven design theory. The effectiveness of the resulting method is illustrated on a benchmark simulation example.

Cite this Paper

BibTeX
@InProceedings{pmlr-v120-breschi20b, title = {Direct Data-Driven Control with Embedded Anti-Windup Compensation}, author = {Breschi, Valentina and Formentin, Simone}, booktitle = {Proceedings of the 2nd Conference on Learning for Dynamics and Control}, pages = {46--54}, year = {2020}, editor = {Bayen, Alexandre M. and Jadbabaie, Ali and Pappas, George and Parrilo, Pablo A. and Recht, Benjamin and Tomlin, Claire and Zeilinger, Melanie}, volume = {120}, series = {Proceedings of Machine Learning Research}, month = {10--11 Jun}, publisher = {PMLR}, pdf = {http://proceedings.mlr.press/v120/breschi20b/breschi20b.pdf}, url = {https://proceedings.mlr.press/v120/breschi20b.html}, abstract = {Input saturation is an ubiquitous nonlinearity in control systems and arises from the fact that all actuators are subject to a maximum power, thereby resulting in a hard limitation on the allowable magnitude of the input effort. In the scientific literature, anti-windup augmentation has been proposed to recover the desired linear closed-loop dynamics during transients, but the effectiveness of such a compensation is strongly linked to the accuracy of the mathematical model of the plant. In this work, it is shown that a feedback controller with embedded anti-windup compensator can be directly identified from data, by suitably extending the existing data-driven design theory. The effectiveness of the resulting method is illustrated on a benchmark simulation example.} }
Endnote
%0 Conference Paper %T Direct Data-Driven Control with Embedded Anti-Windup Compensation %A Valentina Breschi %A Simone Formentin %B Proceedings of the 2nd Conference on Learning for Dynamics and Control %C Proceedings of Machine Learning Research %D 2020 %E Alexandre M. Bayen %E Ali Jadbabaie %E George Pappas %E Pablo A. Parrilo %E Benjamin Recht %E Claire Tomlin %E Melanie Zeilinger %F pmlr-v120-breschi20b %I PMLR %P 46--54 %U https://proceedings.mlr.press/v120/breschi20b.html %V 120 %X Input saturation is an ubiquitous nonlinearity in control systems and arises from the fact that all actuators are subject to a maximum power, thereby resulting in a hard limitation on the allowable magnitude of the input effort. In the scientific literature, anti-windup augmentation has been proposed to recover the desired linear closed-loop dynamics during transients, but the effectiveness of such a compensation is strongly linked to the accuracy of the mathematical model of the plant. In this work, it is shown that a feedback controller with embedded anti-windup compensator can be directly identified from data, by suitably extending the existing data-driven design theory. The effectiveness of the resulting method is illustrated on a benchmark simulation example.
APA
Breschi, V. & Formentin, S.. (2020). Direct Data-Driven Control with Embedded Anti-Windup Compensation. Proceedings of the 2nd Conference on Learning for Dynamics and Control, in Proceedings of Machine Learning Research 120:46-54 Available from https://proceedings.mlr.press/v120/breschi20b.html.

Related Material