A design of gain-scheduled servo system considering actuator saturation (experimental verification for a cart and inverted pendulum system)

Noriaki Itagaki, Hidekazu Nishimura, Kiyoshi Takagi

Research output: Contribution to journalArticle

1 Citation (Scopus)

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 languageEnglish
Pages (from-to)1301-1308
Number of pages8
JournalNippon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
Volume69
Issue number5
Publication statusPublished - 2003 May
Externally publishedYes

Fingerprint

Servomechanisms
Pendulums
Actuators
Hyperbolic functions
Systems analysis
Derivatives
Feedback
Control systems
Controllers
Experiments

Keywords

  • Actuator Saturation
  • Anti-Windup Control
  • Gain Scheduled Control
  • Unstable System

ASJC Scopus subject areas

  • Mechanical Engineering

Cite this

@article{3518abeb8e6d46ec8200df527845cd13,
title = "A design of gain-scheduled servo system considering actuator saturation (experimental verification for a cart and inverted pendulum system)",
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.",
keywords = "Actuator Saturation, Anti-Windup Control, Gain Scheduled Control, Unstable System",
author = "Noriaki Itagaki and Hidekazu Nishimura and Kiyoshi Takagi",
year = "2003",
month = "5",
language = "English",
volume = "69",
pages = "1301--1308",
journal = "Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C",
issn = "0387-5024",
publisher = "Japan Society of Mechanical Engineers",
number = "5",

}

TY - JOUR

T1 - A design of gain-scheduled servo system considering actuator saturation (experimental verification for a cart and inverted pendulum system)

AU - Itagaki, Noriaki

AU - Nishimura, Hidekazu

AU - Takagi, Kiyoshi

PY - 2003/5

Y1 - 2003/5

N2 - 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.

AB - 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.

KW - Actuator Saturation

KW - Anti-Windup Control

KW - Gain Scheduled Control

KW - Unstable System

UR - http://www.scopus.com/inward/record.url?scp=0038374541&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=0038374541&partnerID=8YFLogxK

M3 - Article

AN - SCOPUS:0038374541

VL - 69

SP - 1301

EP - 1308

JO - Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C

JF - Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C

SN - 0387-5024

IS - 5

ER -