@inproceedings{2e726caa61614605bfe9b09fe6abf3f5,
title = "Bounded UDE-based Controller for Systems with Input Constraints",
abstract = "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.",
keywords = "Uncertainty and disturbance estimator (UDE)-based controller, anti-windup, bounded control, input constraint",
author = "Yeqin Wang and Beibei Ren and Zhong, {Qing Chang}",
note = "Funding Information: This work was supported in part by the National Science Foundation under Grant CMMI-1728255. Yeqin Wang is with the National Wind Institute, Texas Tech University, Lubbock, TX 79409-1021, USA. (e-mail: yeqin.wang@ttu.edu). Beibei Ren is with the Department of Mechanical Engineering, Texas Tech University, Lubbock, TX 79409-1021, USA. (e-mail: beibei.ren@ttu.edu). Qing-Chang Zhong is with the Department of Electrical and Computer Engineering, Illinois Institute of Technology, Chicago, IL 60616, USA. (e-mail: zhongqc@ieee.org). Funding Information: This work was supported in part by the National Science Foundation under Grant CMMI-1728255. Publisher Copyright: {\textcopyright} 2018 IEEE.; null ; Conference date: 17-12-2018 Through 19-12-2018",
year = "2019",
month = jan,
day = "18",
doi = "10.1109/CDC.2018.8619244",
language = "English",
series = "Proceedings of the IEEE Conference on Decision and Control",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "2976--2981",
booktitle = "2018 IEEE Conference on Decision and Control, CDC 2018",
}