제어로봇시스템학회:학술대회논문집

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Improvement of Practical Control Method for Positioning Systems in the Presence of Actuator Saturation by Incorporating Takagi-Sugeno(TSK) Fuzzy Anti-reset Windup

  • Ibrahim, Tarig Faisal (Dept. of Mechatronics Engineering, Faculty of Engineering International Islamic University Malaysia) ;
  • ;
  • Salami, M.J.E. (Dept. of Mechatronics Engineering, Faculty of Engineering International Islamic University Malaysia) ;
  • Albagul, Abdulgani (Dept. of Mechatronics Engineering, Faculty of Engineering International Islamic University Malaysia)
  • Published : 2004.08.25
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Abstract

Positioning system is widely used for many practical applications. This system requires a good controller to achieve high accuracy and fast response with simple and self-adjustable design. In order to satisfy the above requirements, a new practical controller for positioning systems, namely nominal characteristic trajectory following (NCTF) controller with PI compensator, has been proposed. However, the effect of actuator saturation can not be completely compensated for integrator windup when the object parameters vary. This paper presents a method to improve the NCTF controller by overcoming the problem of integrator windup by adopting a fuzzy system. The improvement of the NCTF controller is evaluated through simulation using a rotary positioning system. The simulation result has demonstrated the effectiveness of the compensated NCTF in overcoming the problem of integrator windup.

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