Design Method of Gain-Scheduled Control System Considering Actuator Saturation : Experimental Verification for Cart and Inverted Pendulum System(<Special Issue>Advances in Motion and Vibration Control Technology)
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概要
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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.
- 一般社団法人日本機械学会の論文
- 2003-09-15
著者
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NISHIMURA Hidekazu
Department of Electronics and Mechanical Engineering, Faculty of Engineering ,Chiba University
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Takagi Kiyoshi
National Institute Of Advanced Industrial Science And Technology (aist)
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Nishimura Hidekazu
Faculty Of Science And Technology Keio Univdrsity
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Nishimura Hidekazu
Department Of Electronics And Mechanical Engineering Chiba University
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Itagaki Noriaki
Graduate School Of Science And Technology Chiba University
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Itagaki Noriaki
Graduate School Of Pharmaceutical Sciences Tohoku University
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Nishimura H
Department Of Mechanical Engineering Chiba University
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Nishimura Hidekazu
Department Of Bacteriology Yamagata University School Of Medicine
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