제어로봇시스템학회:학술대회논문집
- 2005.06a
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- Pages.1966-1971
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- 2005
Dynamic Anti-Windup for Robot Systems with Friction
- Yoon, S.S. (Intelligent Systems Institute, AIST) ;
- Yamada, Y. (Intelligent Systems Institute, AIST) ;
- Park, J.K. (School of Information and Communication Engineering, Sungkyunkwan University) ;
- Yoon, T.W. (School of Electrical Engineering, Korea University)
- Published : 2005.06.02
Abstract
Though several previous anti-windup techniques have been proposed, they are limited to linear systems or friction is not considered. Thus this paper proposes a compensation scheme for input-constrained robot systems with friction to cope with the windup phenomenon and shows its effectiveness by simulations. Given a feedback linearizing controller for a robot system designed without considering its input constraint, an additional dynamic compensator is proposed to account for the constraint. The dynamic anti-windup is based on the minimization of a reasonable performance index, and properties of the resulting closed-loop are presented.