2000 Volume 43 Issue 3 Pages 625-631
In this paper, the author proposes a control method that can bring a system to an arbitrary hal state even if the input is already saturated, by adopting a hyperbolic tangential function that describes the input limitation. Furthermore, by using the derivative of the function, the obtained input becomes continuous at terminal points of an initial time and a hal time. This formulation of the input limitation can be described by a linear parameter-dependent system and the final-state control with error learning can be applied to the system. The effectiveness of this method is verified by carrying out both simulations and experiments of the swing-up motion control of a cart and inverted pendulum system, whose cart displacement is limited. This method does not require precise determination of the hal time and can generate a continuous, smooth, feedforward control input when the output of the actuator is limited.
JSME international journal. Ser. 1, Solid mechanics, strength of materials
JSME international journal. Ser. A, Mechanics and material engineering
JSME international journal. Ser. 3, Vibration, control engineering, engineering for industry
JSME international journal. Ser. C, Dynamics, control, robotics, design and manufacturing
JSME International Journal Series A Solid Mechanics and Material Engineering
JSME International Journal Series B Fluids and Thermal Engineering