Globally stable fast tracking control of a chain of integrators with input saturation and disturbances: A holistic approach

Lu Lu, Bin Yao

Research output: Chapter in Book/Report/Conference proceedingConference contribution

7 Scopus citations


A new approach to the globally stable tracking control of multiple integrators with input saturation and bounded disturbances is proposed. The controller has a hybrid structure. Specifically, in the inner loop, a nonlinear control law is designed in continuous-time domain to have an arbitrarily good disturbance rejection performance at the steady-state while keeping the tracking errors with respect to on-line replanned trajectory within certain positive invariant set even in the presence of input saturation and bounded disturbances, provided that the replanned trajectory satisfies certain conditions. In the outer loop, a trajectory replanning unit implemented in discrete-time domain is constructed to generate a replanned trajectory satisfying those conditions while minimizing the converging time of the replanned trajectory to the desired target. It is theoretically shown that the resulting closed-loop system is globally stable and can track any feasible desired trajectory with a guaranteed steady-state tracking accuracy. Comparative simulation results have been obtained to verify the superior performance of the proposed controller over various existing ones in terms of the disturbance rejection capability and the overall respond speed of the resulting closed-loop system for a third-order integrator chain.

Original languageEnglish (US)
Title of host publicationProceedings of the 2011 American Control Conference, ACC 2011
Number of pages6
StatePublished - 2011
Externally publishedYes
Event2011 American Control Conference, ACC 2011 - San Francisco, CA, United States
Duration: Jun 29 2011Jul 1 2011

Publication series

NameProceedings of the American Control Conference
ISSN (Print)0743-1619


Other2011 American Control Conference, ACC 2011
Country/TerritoryUnited States
CitySan Francisco, CA

All Science Journal Classification (ASJC) codes

  • Electrical and Electronic Engineering


  • Integrators
  • Nonlinear Control
  • Saturation
  • Trajectory Planning


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