Bounded UDE-based Controller for Systems with Input Constraints

Yeqin Wang, Beibei Ren, Qing Chang Zhong

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

3 Scopus citations


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.

Original languageEnglish
Title of host publication2018 IEEE Conference on Decision and Control, CDC 2018
PublisherInstitute of Electrical and Electronics Engineers Inc.
Number of pages6
ISBN (Electronic)9781538613955
StatePublished - Jan 18 2019
Event57th IEEE Conference on Decision and Control, CDC 2018 - Miami, United States
Duration: Dec 17 2018Dec 19 2018

Publication series

NameProceedings of the IEEE Conference on Decision and Control
ISSN (Print)0743-1546


Conference57th IEEE Conference on Decision and Control, CDC 2018
Country/TerritoryUnited States


  • Uncertainty and disturbance estimator (UDE)-based controller
  • anti-windup
  • bounded control
  • input constraint


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