Prescribed Performance-Based Anti-Windup Design for Nonlinear Fully Actuated Systems with Actuator Saturation

This paper proposes a prescribed performance-based model recovery anti-windup scheme for nonlinear fully actuated systems subject to actuator saturation. We first construct a dynamic nonlinear controller to achieve the global asymptotic stability of the closed-loop system without saturation. Then, a model recovery anti-windup compensator is designed to address saturation-induced perturbations. This compensation scheme employs the prescribed performance constraints to quantify state/output deviations between unsaturated and saturated systems. To ensure nonsingular compensation during the occurrence of saturation, an auxiliary system-based adaptive mechanism is embedded into the performance function design. Simulation results of a numerical example validate the effectiveness of the proposed approach.