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

Noriaki Itagaki, Hidekazu Nishimura, Kiyoshi Takagi

研究成果: Article査読

4 被引用数 (Scopus)

抄録

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.

本文言語English
ページ(範囲)953-959
ページ数7
ジャーナルJSME International Journal, Series C: Mechanical Systems, Machine Elements and Manufacturing
46
3
DOI
出版ステータスPublished - 2003 9月
外部発表はい

ASJC Scopus subject areas

  • 機械工学
  • 産業および生産工学

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