Abstract
In this paper, we propose a control system design method in consideration of actuator saturation. By using the hyperbolic tangential function as a saturation description, we introduce both the time derivative of control input and the anti-windup control structure with feedback of the error between the input and the output of the saturation function. Furthermore, we formulate a linear parameter varying system to design the gain scheduled controller. The effectiveness of our proposed method is verified by carrying out experiments of positioning control for a cart and inverted pendulum system.
| Original language | English |
|---|---|
| Pages (from-to) | 1301-1308 |
| Number of pages | 8 |
| Journal | Nippon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C |
| Volume | 69 |
| Issue number | 5 |
| DOIs | |
| Publication status | Published - 2003 May |
| Externally published | Yes |
Keywords
- Actuator Saturation
- Anti-Windup Control
- Gain Scheduled Control
- Unstable System
ASJC Scopus subject areas
- Mechanics of Materials
- Mechanical Engineering
- Industrial and Manufacturing Engineering