Simultaneous feedforward online command rate limiter filters for existing controllers

One of the biggest challenges in controller design for a mechatronics system is the actuator limitations. Either response time of the actuator or the input constraints creates limits for the controller performance and stability. In this study a novel feedforward online rate limiter scheme for arbitrary input signals is introduced by taking velocity, acceleration and jerk constraints into account, and it is investigated that how the control effort and system response is affected by the demand signal’s rate of change limitations. A fin actuation system for a guided missile is given as an example where the demand signal comes from the guidance system online. Different online rate limiting schemes are reviewed, and simulations are carried out for comparison. Proposed method is shown to be effective via simulation and confirmed by experimental results for the existing controller.

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