Design method of gain-scheduled control system considering actuator saturation (experimental verification for cart and inverted pendulum system)

Noriaki Itagaki; Hidekazu Nishimura; Kiyoshi Takagi

doi:10.1299/jsmec.46.953

Design method of gain-scheduled control system considering actuator saturation (experimental verification for cart and inverted pendulum system)

Noriaki Itagaki, Hidekazu Nishimura, Kiyoshi Takagi

Research output: Contribution to journal › Article › peer-review

4 Citations (Scopus)

Abstract

In this paper, we propose a method of control system design which takes the actuator saturation into consideration. By using a hyperbolic tangential function as the saturation function, we introduce both the time derivative of the controller output and the anti-windup control structure with the feedback loop of the error between the controller output and the saturation function output. 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 the experiments of the positioning control for a cart and inverted pendulum system.

Original language	English
Pages (from-to)	953-959
Number of pages	7
Journal	JSME International Journal, Series C: Mechanical Systems, Machine Elements and Manufacturing
Volume	46
Issue number	3
DOIs	https://doi.org/10.1299/jsmec.46.953
Publication status	Published - 2003 Sep
Externally published	Yes

Keywords

Actuator
Actuator saturation
Anti windup control
Gain scheduled control
Positioning
Robust control
Servo mechanism
Unstable system

ASJC Scopus subject areas

Mechanical Engineering
Industrial and Manufacturing Engineering

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Design method of gain-scheduled control system considering actuator saturation (experimental verification for cart and inverted pendulum system). / Itagaki, Noriaki; Nishimura, Hidekazu; Takagi, Kiyoshi.

In: JSME International Journal, Series C: Mechanical Systems, Machine Elements and Manufacturing, Vol. 46, No. 3, 09.2003, p. 953-959.

Research output: Contribution to journal › Article › peer-review

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