Error dynamics design via a repetitive loop for ude-based robust control to reject periodic disturbances

Yeqin Wang, Yiting Dong, Jiguo Dai, Beibei Ren, Qing Chang Zhong

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

Abstract

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.

Original languageEnglish
Title of host publicationAdaptive/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
PublisherAmerican Society of Mechanical Engineers
ISBN (Electronic)9780791884270
DOIs
StatePublished - 2020
EventASME 2020 Dynamic Systems and Control Conference, DSCC 2020 - Virtual, Online
Duration: Oct 5 2020Oct 7 2020

Publication series

NameASME 2020 Dynamic Systems and Control Conference, DSCC 2020
Volume1

Conference

ConferenceASME 2020 Dynamic Systems and Control Conference, DSCC 2020
CityVirtual, Online
Period10/5/2010/7/20

Keywords

  • Disturbance estimator (UDE)
  • Error dynamics design
  • Rejection of periodic disturbances
  • Repetitive loop
  • Uncertainty

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