Journal
IEEE TRANSACTIONS ON AUTOMATIC CONTROL
Volume 66, Issue 7, Pages 3409-3416Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TAC.2020.3024475
Keywords
Active disturbance rejection control (ADRC); disturbance estimation and rejection; extended state observer (ESO); nonlinear uncertain dynamical systems; PI control; tuning laws
Funding
- National Nature Science Foundation of China [61973299, 61633003-3, 61533012, 91748120]
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This article discusses integrating uncertainty estimator into PI controller for better robustness and transient performance against uncertain nonlinear coupling dynamics and time-varying disturbances. It covers the descriptions for the sizes of three kinds of uncertainties, tuning laws of ESO, and the importance of tuning the bandwidth of ESO for desired transient performance. Furthermore, it is shown that stronger disturbance rejection at low frequency can be achieved by integrating the uncertainty estimator module.
Proportional-integral (PI) control/loop has been widely used in numerous industrial processes. This article focuses on integrating uncertainty estimator into PI controller for better robustness and transient performance against uncertain nonlinear coupling dynamics and time-varying disturbances. First, the descriptions for the sizes of three kinds of uncertainties in a class of multi-input-multi-output nonlinear systems are discussed. Then, the tuning laws of the typical uncertainty estimator, i.e., extended state observer (ESO), are quantitatively presented to ensure the stability of closed-loop systems. More importantly, it is shown that the desired transient performance of tracking error can be ensured by tuning the bandwidth of ESO. In addition, it is proven that much stronger disturbance rejection at low frequency can be achieved by integrating the uncertainty estimator module. The simulation results for calibration-free robotic eye-hand coordination system show the effectiveness of the proposed method.
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