Journal
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
Volume 68, Issue 2, Pages 1560-1570Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TIE.2020.2969069
Keywords
Boundedness design; input constraint; integral windup; uncertainty and disturbance estimator (UDE)
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The article introduces a bounded UDE-based controller to handle systems with uncertainties, disturbances, and input constraints. By introducing an additional time-varying variable, the issue of integral windup is naturally avoided, ensuring that the controller output always satisfies the constraints.
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.
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