제어로봇시스템학회:학술대회논문집

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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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
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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.

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