Static anti-windup with shifted equilibria applied to a Segway-like vehicle

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.