Detailed Information
Cited 2 time in 
Cited 2 time in 
Cited 2 time in
Metadata Downloads
Control of double integrators under input saturation and disturbances
- Authors
- Lim, Young-Hun
- Issue Date
- Nov-2023
- Publisher
- Institute of Electrical and Electronics Engineers Inc.
- Keywords
- consensus; disturbance; double integrator; multi-agent system; PI control law; saturation
- Citation
- 2023 5th International Conference on Control and Robotics, ICCR 2023, pp 35 - 39
- Pages
- 5
- Indexed
- SCIE
SCOPUS
- Journal Title
- 2023 5th International Conference on Control and Robotics, ICCR 2023
- Start Page
- 35
- End Page
- 39
- ISSN
- 0000-0000
- Abstract
- In this paper, we study the tracking control problem for double integrators under input saturation and constant disturbances. We assume that the desired states are given by the double integrator with constant speed. To solve this problem, we propose the saturated Proportional-Integral(PI) control law. Then, by applying the Lasalle's invariance principle, we derive the sufficient conditions for the asymptotic stability of tracking error dynamics. We next extend the tracking control problem to the consensus problem for multi-agent systems. By extending the saturated PI control law, we construct the PI-based consensus control law and analyze the sufficient conditions to solve the consensus problem. Finally, the numerical example is provided to demonstrate the validity of the proposed results. © 2023 IEEE.
- Files in This Item
- There are no files associated with this item.
- Appears in
Collections - ETC > Journal Articles
Items in ScholarWorks are protected by copyright, with all rights reserved, unless otherwise indicated.