Paper Info
Title
Bounded UDE-Based Controller for Input Constrained Systems With Uncertainties and Disturbances
Abstract
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.
Year
DOI
Venue
2021
10.1109/TIE.2020.2969069
IEEE Transactions on Industrial Electronics
Keywords
DocType
Volume
Boundedness design,input constraint,integral windup,uncertainty and disturbance estimator (UDE)
Journal
68
Issue
ISSN
Citations 
2
0278-0046
0
PageRank 
References 
Authors
0.34
0
3
Name
Order
Citations
PageRank
Yeqin Wang130.73
beibei210012.56
Qing-Chang Zhong341754.97