Leveraging recent results on bounded stabilization of linear plants using shifted equilibria, we propose a novel anti-windup scheme for linear input-saturated plants with (asymmetric) saturation limits. We show that, with open-loop plants involving a continuum of equilibria, the proposed anti-windup solution provides an unbounded estimate of the basin of attraction, thereby overcoming typical limits of classical solutions. We also report on experiments performed on a segway-like vehicle, where the controller effectively displaces the segway between any two locations, due to unboundedness of the basin of attraction.

中文翻译：

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具有移动平衡的静态抗饱和应用于类似赛格威的车辆


利用最近关于使用移位平衡的线性植物有界稳定的结果，我们提出了一种新颖的抗饱和方案，用于具有（不对称）饱和限制的线性输入饱和植物。我们表明，对于涉及连续平衡的开环设备，所提出的抗饱和解决方案提供了吸引力盆地的无界估计，从而克服了经典解决方案的典型限制。我们还报告了在类似赛格威的车辆上进行的实验，由于吸引力盆地的无限性，控制器有效地在任意两个位置之间移动赛格威。