Abstract
In this paper, we propose a design method of a reference-filtering-type two-degree-of-freedom control system with a structure of antiwindup feedback control in order to overcome actuator saturation problem. By using a hyperbolic tangential function as the saturation function, the time derivative of the controller output is introduced in order to construct a servo system. Thus, a linear parameter-varying system is formulated to design a gain-scheduled feedback controller by using linear matrix inequalities. In order to manage the reference signal taking account of actuator saturation, the feedforward reference signal is obtained offline by applying final-state control with error learning for the closed-loop system including the gain-scheduled feedback controller that may continuously vary before the actuator saturates. The effectiveness of our proposed method is verified by carrying out both simulations and experiments for stabilizing and positioning control of a cart and inverted pendulum system.
| Original language | English |
|---|---|
| Pages (from-to) | 470-475 |
| Number of pages | 6 |
| Journal | IEEE/ASME Transactions on Mechatronics |
| Volume | 13 |
| Issue number | 4 |
| DOIs | |
| Publication status | Published - 2008 |
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Keywords
- Actuator saturation
- Feedforward input
- Final-state control
- Gain-scheduled (GS) control
- Servo mechanism
ASJC Scopus subject areas
- Electrical and Electronic Engineering
- Control and Systems Engineering
- Computer Science Applications
Cite this
Two-degree-of-freedom control system design in consideration of actuator saturation. / Itagaki, Noriaki; Nishimura, Hidekazu; Takagi, Takagi.
In: IEEE/ASME Transactions on Mechatronics, Vol. 13, No. 4, 2008, p. 470-475.Research output: Contribution to journal › Article
}
TY - JOUR
T1 - Two-degree-of-freedom control system design in consideration of actuator saturation
AU - Itagaki, Noriaki
AU - Nishimura, Hidekazu
AU - Takagi, Takagi
PY - 2008
Y1 - 2008
N2 - In this paper, we propose a design method of a reference-filtering-type two-degree-of-freedom control system with a structure of antiwindup feedback control in order to overcome actuator saturation problem. By using a hyperbolic tangential function as the saturation function, the time derivative of the controller output is introduced in order to construct a servo system. Thus, a linear parameter-varying system is formulated to design a gain-scheduled feedback controller by using linear matrix inequalities. In order to manage the reference signal taking account of actuator saturation, the feedforward reference signal is obtained offline by applying final-state control with error learning for the closed-loop system including the gain-scheduled feedback controller that may continuously vary before the actuator saturates. The effectiveness of our proposed method is verified by carrying out both simulations and experiments for stabilizing and positioning control of a cart and inverted pendulum system.
AB - In this paper, we propose a design method of a reference-filtering-type two-degree-of-freedom control system with a structure of antiwindup feedback control in order to overcome actuator saturation problem. By using a hyperbolic tangential function as the saturation function, the time derivative of the controller output is introduced in order to construct a servo system. Thus, a linear parameter-varying system is formulated to design a gain-scheduled feedback controller by using linear matrix inequalities. In order to manage the reference signal taking account of actuator saturation, the feedforward reference signal is obtained offline by applying final-state control with error learning for the closed-loop system including the gain-scheduled feedback controller that may continuously vary before the actuator saturates. The effectiveness of our proposed method is verified by carrying out both simulations and experiments for stabilizing and positioning control of a cart and inverted pendulum system.
KW - Actuator saturation
KW - Feedforward input
KW - Final-state control
KW - Gain-scheduled (GS) control
KW - Servo mechanism
UR - http://www.scopus.com/inward/record.url?scp=54749127432&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=54749127432&partnerID=8YFLogxK
U2 - 10.1109/TMECH.2008.2000638
DO - 10.1109/TMECH.2008.2000638
M3 - Article
AN - SCOPUS:54749127432
VL - 13
SP - 470
EP - 475
JO - IEEE/ASME Transactions on Mechatronics
JF - IEEE/ASME Transactions on Mechatronics
SN - 1083-4435
IS - 4
ER -