TY - JOUR
T1 - Bounded UDE-Based Controller for Input Constrained Systems with Uncertainties and Disturbances
AU - Wang, Yeqin
AU - Ren, Beibei
AU - Zhong, Qing Chang
N1 - Publisher Copyright:
© 1982-2012 IEEE.
PY - 2021/2
Y1 - 2021/2
N2 - The uncertainty and disturbance estimator (UDE)-based controller has emerged as an effective robust control method to handle systems with uncertainties and disturbances. However, similar to other controllers including an integral action, the UDE-based controller faces the integral windup issue when the system has input constraints. In this article, a bounded UDE-based controller is proposed to deal with systems subject to uncertainties, disturbances, and input constraint. An additional time-varying variable is introduced into the design of the error dynamics to naturally avoid integral windup. The boundedness design guarantees that both the final controller output and the additional time-varying variable dynamically move on an ellipse so that the controller output always satisfies the input constraint. The proposed bounded UDE-based controller inherits the robustness of the conventional UDE-based control method, and has a clear structure, with guidelines provided for parameter selections. Both theoretical analysis and experimental results are provided to validate the proposed design.
AB - The uncertainty and disturbance estimator (UDE)-based controller has emerged as an effective robust control method to handle systems with uncertainties and disturbances. However, similar to other controllers including an integral action, the UDE-based controller faces the integral windup issue when the system has input constraints. In this article, a bounded UDE-based controller is proposed to deal with systems subject to uncertainties, disturbances, and input constraint. An additional time-varying variable is introduced into the design of the error dynamics to naturally avoid integral windup. The boundedness design guarantees that both the final controller output and the additional time-varying variable dynamically move on an ellipse so that the controller output always satisfies the input constraint. The proposed bounded UDE-based controller inherits the robustness of the conventional UDE-based control method, and has a clear structure, with guidelines provided for parameter selections. Both theoretical analysis and experimental results are provided to validate the proposed design.
KW - Boundedness design
KW - input constraint
KW - integral windup
KW - uncertainty and disturbance estimator (UDE)
UR - http://www.scopus.com/inward/record.url?scp=85095819086&partnerID=8YFLogxK
U2 - 10.1109/TIE.2020.2969069
DO - 10.1109/TIE.2020.2969069
M3 - Article
AN - SCOPUS:85095819086
VL - 68
SP - 1560
EP - 1570
JO - IEEE Transactions on Industrial Electronics
JF - IEEE Transactions on Industrial Electronics
SN - 0278-0046
IS - 2
M1 - 8974620
ER -