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

Access to Document

10.1299/jsmec.46.953

Fingerprint Dive into the research topics of 'Design method of gain-scheduled control system considering actuator saturation (experimental verification for cart and inverted pendulum system)'. Together they form a unique fingerprint.

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 › peer-review

@article{ba25717083044be3bc6ce87d81263256,

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

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.",

keywords = "Actuator, Actuator saturation, Anti windup control, Gain scheduled control, Positioning, Robust control, Servo mechanism, Unstable system",

author = "Noriaki Itagaki and Hidekazu Nishimura and Kiyoshi Takagi",

year = "2003",

month = sep,

doi = "10.1299/jsmec.46.953",

language = "English",

volume = "46",

pages = "953--959",

journal = "JSME International Journal, Series C: Mechanical Systems, Machine Elements and Manufacturing",

issn = "1344-7653",

publisher = "Japan Society of Mechanical Engineers",

number = "3",

}

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 -

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

Abstract

Keywords

ASJC Scopus subject areas

Access to Document

Other files and links

Cite this