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 journalArticle

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 languageEnglish
Pages (from-to)953-959
Number of pages7
JournalJSME International Journal, Series C: Mechanical Systems, Machine Elements and Manufacturing
Volume46
Issue number3
DOIs
Publication statusPublished - 2003 Sep
Externally publishedYes

Fingerprint

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

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

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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.

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