In this paper, we propose a control system design method in consideration of actuator saturation. By using the hyperbolic tangential function as a saturation description, we introduce both the time derivative of control input and the anti-windup control structure with feedback of the error between the input and the output of the saturation function. 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 experiments of positioning control for a cart and inverted pendulum system.
|ジャーナル||Nippon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C|
|出版ステータス||Published - 2003 5月|
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