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 | |
| Publication status | Published - 2003 Sep |
| Externally published | Yes |
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Keywords
- Actuator
- Actuator saturation
- Anti windup control
- Gain scheduled control
- Positioning
- Robust control
- Servo mechanism
- Unstable system
ASJC Scopus subject areas
- Industrial and Manufacturing Engineering
- Mechanical Engineering
Cite this
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
}
TY - JOUR
T1 - Design method of gain-scheduled control system considering actuator saturation (experimental verification for cart and inverted pendulum system)
AU - Itagaki, Noriaki
AU - Nishimura, Hidekazu
AU - Takagi, Kiyoshi
PY - 2003/9
Y1 - 2003/9
N2 - 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.
AB - 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.
KW - Actuator
KW - Actuator saturation
KW - Anti windup control
KW - Gain scheduled control
KW - Positioning
KW - Robust control
KW - Servo mechanism
KW - Unstable system
UR - http://www.scopus.com/inward/record.url?scp=0345415477&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=0345415477&partnerID=8YFLogxK
U2 - 10.1299/jsmec.46.953
DO - 10.1299/jsmec.46.953
M3 - Article
AN - SCOPUS:0345415477
VL - 46
SP - 953
EP - 959
JO - JSME International Journal, Series C: Mechanical Systems, Machine Elements and Manufacturing
JF - JSME International Journal, Series C: Mechanical Systems, Machine Elements and Manufacturing
SN - 1344-7653
IS - 3
ER -