Dynamic Anti-Windup Design for Nonlinear High-Order Fully Actuated Systems with Actuator Saturation

This paper proposes an anti-windup compensation scheme for nonlinear high-order fully actuated systems with ac-tuator saturation. By employing the fully actuated property of the system, we first design a dynamic nonlinear feedback law guaranteeing global asymptotic stability of the closed-loop system in the absence of actuator saturation. To mitigate performance degradation induced by saturation, we construct a dynamic anti-windup compensator based on a performance index that quanti-fies controller state deviations between saturated and nominal systems. Furthermore, local asymptotic stability of the closed-loop system is proven through stability analysis of its equivalent cascade structure. Simulation results of a numerical example validate the effectiveness of the proposed approach.