TY - GEN
T1 - Error dynamics design via a repetitive loop for ude-based robust control to reject periodic disturbances
AU - Wang, Yeqin
AU - Dong, Yiting
AU - Dai, Jiguo
AU - Ren, Beibei
AU - Zhong, Qing Chang
N1 - Publisher Copyright:
Copyright © 2020 ASME
PY - 2020
Y1 - 2020
N2 - The uncertainty and disturbance estimator (UDE)-based robust control has a two-degree-of-freedom nature through the design of the error dynamics and the design of the UDE filters. In the conventional design to handle periodic disturbances or mixed sinusoidal disturbances, high-order UDE filters incorporated with the internal model principle (IMP) or time-delay filters (TDF) are adopted to achieve the asymptotic reference tracking and the asymptotic disturbance rejection. In this paper, a new error dynamics design combined with a repetitive loop is proposed for the UDE-based robust control to achieve the asymptotic rejection of both step disturbances and periodic disturbances. The disturbance rejection performance is investigated through the two-degree-of-freedom nature, and the practical implementation of the proposed design is illustrated to eliminate the infinite bandwidth of the repetitive loop. The proposed design is validated through the simulation studies of a battery charging system with comparison to different reported designs of the conventional UDE-based robust control.
AB - The uncertainty and disturbance estimator (UDE)-based robust control has a two-degree-of-freedom nature through the design of the error dynamics and the design of the UDE filters. In the conventional design to handle periodic disturbances or mixed sinusoidal disturbances, high-order UDE filters incorporated with the internal model principle (IMP) or time-delay filters (TDF) are adopted to achieve the asymptotic reference tracking and the asymptotic disturbance rejection. In this paper, a new error dynamics design combined with a repetitive loop is proposed for the UDE-based robust control to achieve the asymptotic rejection of both step disturbances and periodic disturbances. The disturbance rejection performance is investigated through the two-degree-of-freedom nature, and the practical implementation of the proposed design is illustrated to eliminate the infinite bandwidth of the repetitive loop. The proposed design is validated through the simulation studies of a battery charging system with comparison to different reported designs of the conventional UDE-based robust control.
KW - Disturbance estimator (UDE)
KW - Error dynamics design
KW - Rejection of periodic disturbances
KW - Repetitive loop
KW - Uncertainty
UR - http://www.scopus.com/inward/record.url?scp=85101469217&partnerID=8YFLogxK
U2 - 10.1115/DSCC2020-3221
DO - 10.1115/DSCC2020-3221
M3 - Conference contribution
AN - SCOPUS:85101469217
T3 - ASME 2020 Dynamic Systems and Control Conference, DSCC 2020
BT - Adaptive/Intelligent Sys. Control; Driver Assistance/Autonomous Tech.; Control Design Methods; Nonlinear Control; Robotics; Assistive/Rehabilitation Devices; Biomedical/Neural Systems; Building Energy Systems; Connected Vehicle Systems; Control/Estimation of Energy Systems; Control Apps.; Smart Buildings/Microgrids; Education; Human-Robot Systems; Soft Mechatronics/Robotic Components/Systems; Energy/Power Systems; Energy Storage; Estimation/Identification; Vehicle Efficiency/Emissions
PB - American Society of Mechanical Engineers
T2 - ASME 2020 Dynamic Systems and Control Conference, DSCC 2020
Y2 - 5 October 2020 through 7 October 2020
ER -