Control of Under Actuated System with Input Constraints

Atif Ali, Muwahida Liaquat, Mohammad Bilal Malik


A pulse width modulation (PWM) approach based on the discrete equivalent model of an under actuated spinning body is proposed. The presented work is a sequel to the earlier work done by the authors for the orientation control of the drill machine. The constraint is an actuating signal of fixed amplitude with adjustable pulse width. A novel approach based on error minimization is developed. The optimized values of pulse width and phase of the control input are estimated to generate the actuating signal. The problems of local minima and non-causality were also addressed through proposed technique. The simulations are included to compare proposed techniques with the earlier developed techniques for similar systems. The performance is also shown under both nominal and parameter variations.

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