TY - GEN
T1 - Bounded UDE-based Controller for Systems with Input Constraints
AU - Wang, Yeqin
AU - Ren, Beibei
AU - Zhong, Qing Chang
N1 - Publisher Copyright:
© 2018 IEEE.
PY - 2018/7/2
Y1 - 2018/7/2
N2 - The uncertainty and disturbance estimator (UDE)-based control is a robust control method, which is proposed as a replacement of the time-delay controller (TDC). With the filter design in the UDE-based controller, the challenging problem of designing a robust controller is converted into designing a filter. In this paper, a bounded UDE-based control is developed to deal with systems subject to uncertainties, disturbances and input constraints. The bounded controller output is achieved through nonlinear Lyapunov analysis, and an additional time-varying variable is introduced into the error dynamics to naturally avoid the integrator windup. The boundedness design is embedded into the existing UDE framework to form a bounded UDE-based controller without integrator windup via a simple structure and clear guidelines of parameter selections. Both theoretical analysis and simulation studies are provided to validate the proposed design.
AB - The uncertainty and disturbance estimator (UDE)-based control is a robust control method, which is proposed as a replacement of the time-delay controller (TDC). With the filter design in the UDE-based controller, the challenging problem of designing a robust controller is converted into designing a filter. In this paper, a bounded UDE-based control is developed to deal with systems subject to uncertainties, disturbances and input constraints. The bounded controller output is achieved through nonlinear Lyapunov analysis, and an additional time-varying variable is introduced into the error dynamics to naturally avoid the integrator windup. The boundedness design is embedded into the existing UDE framework to form a bounded UDE-based controller without integrator windup via a simple structure and clear guidelines of parameter selections. Both theoretical analysis and simulation studies are provided to validate the proposed design.
KW - Uncertainty and disturbance estimator (UDE)-based controller
KW - anti-windup
KW - bounded control
KW - input constraint
UR - http://www.scopus.com/inward/record.url?scp=85062190400&partnerID=8YFLogxK
U2 - 10.1109/CDC.2018.8619244
DO - 10.1109/CDC.2018.8619244
M3 - Conference contribution
AN - SCOPUS:85062190400
T3 - Proceedings of the IEEE Conference on Decision and Control
SP - 2976
EP - 2981
BT - 2018 IEEE Conference on Decision and Control, CDC 2018
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 57th IEEE Conference on Decision and Control, CDC 2018
Y2 - 17 December 2018 through 19 December 2018
ER -