Anti-windup for Euler-Lagrange Plants
10.1 FULLY ACTUATED EULER-LAGRANGE PLANTS
This chapter focuses on a specific case study where the model recovery anti-windup (MRAW) construction described in Section6.3 is applied to a class of nonlinear plants consisting of all fully actuated Euler-Lagrange systems. In particular, for all such plants, an anti-windup construction is given here that, provided that some feasibility conditions are satisfied, is able to recover global asymptotic stability of the closed loop with saturation as long as the unconstrained controller guarantees global asymptotic stability and local exponential stability of the unconstrained closed loop.
This case study can be understood as an example of how far the ...