Bounded UDE-Based Controller for Input Constrained Systems With Uncertainties and Disturbances
| Autor: | Beibei Ren, Yeqin Wang, Qing-Chang Zhong |
|---|---|
| Rok vydání: | 2021 |
| Předmět: |
Computer science
020208 electrical & electronic engineering Integral windup Estimator 02 engineering and technology Integral equation Exponential stability Control and Systems Engineering Robustness (computer science) Control theory Bounded function Control system 0202 electrical engineering electronic engineering information engineering Electrical and Electronic Engineering Robust control |
| Zdroj: | IEEE Transactions on Industrial Electronics. 68:1560-1570 |
| ISSN: | 1557-9948 0278-0046 |
| DOI: | 10.1109/tie.2020.2969069 |
| Popis: | The uncertainty and disturbance estimator (UDE)-based controller has emerged as an effective robust control method to handle systems with uncertainties and disturbances. However, similar to other controllers including an integral action, the UDE-based controller faces the integral windup issue when the system has input constraints. In this article, a bounded UDE-based controller is proposed to deal with systems subject to uncertainties, disturbances, and input constraint. An additional time-varying variable is introduced into the design of the error dynamics to naturally avoid integral windup. The boundedness design guarantees that both the final controller output and the additional time-varying variable dynamically move on an ellipse so that the controller output always satisfies the input constraint. The proposed bounded UDE-based controller inherits the robustness of the conventional UDE-based control method, and has a clear structure, with guidelines provided for parameter selections. Both theoretical analysis and experimental results are provided to validate the proposed design. |
| Databáze: | OpenAIRE |
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