Simple and Stable Integral Compensator on Motor Control by Reference Shaping

Abstract

An online reference shaping which achieves robust motor servo control is proposed. It features an integral com-pensator which has an anti-windup function with an automatic reset scheme. A complete software implementation frees the system from any extra equipments to monitor if the motor input is saturated. Hence, the method is easy to use, is widely applicable, and works even on unsophisticated embedded PD controllers. The proposed controller is examined on a small anthropomorphic robot, where the dynamical model is hardly identified.