Uncertainty and Disturbance Estimator–Based Control for Uncertain LTI-SISO Systems With State Delays

Stobart, Richard; Kuperman, Alon; Zhong, Qing-Chang

doi:10.1115/1.4003265

Cited by 51 publications

(25 citation statements)

References 21 publications

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“…However, there is no major change in the speed of the response. This phenomenon can be seen from the examples in [17,19], where no reason was found.…”

Section: Discussionmentioning

confidence: 67%

“…The UDE-based control strategy has been successfully applied to robust input-output linearization [10][11][12] and combined with sliding-mode control [13][14][15]. Very recently, the UDE-based control has been extended to uncertain systems with state delays, for both linear systems [16,17] and nonlinear systems [18,19].…”

Section: Design Of Ude-based Controllers 1995mentioning

confidence: 99%

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Design of UDE‐based controllers from their two‐degree‐of‐freedom nature

Zhong

Kuperman

Stobart

2010

Intl J Robust & Nonlinear

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170

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SUMMARYThe control algorithm based on the uncertainty and disturbance estimator (UDE) is a robust control strategy and has received wide attention in recent years. In this paper, the two-degree-of-freedom nature of UDE-based controllers is revealed. The set-point tracking response is determined by the reference model, whereas the disturbance response and robustness are determined by the error feedback gain and the filter introduced to estimate the uncertainty and disturbances. It is also revealed that the error dynamics of the system is determined by two filters, of which one is determined by the error feedback gain and the other is determined by the filter introduced to estimate the uncertainty and disturbances. The design of these two filters are decoupled in the frequency domain. Moreover, after introducing the UDE-based control, the Laplace transform can be applied to some time-varying systems for analysis and design because all the time-varying parts are lumped into a signal. It has been shown that, in addition to the known advantages over the time-delay control, the UDE-based control also brings better performance than the time-delay control under the same conditions. Design examples and simulation results are given to demonstrate the findings.

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“…However, there is no major change in the speed of the response. This phenomenon can be seen from the examples in [17,19], where no reason was found.…”

Section: Discussionmentioning

confidence: 67%

Section: Design Of Ude-based Controllers 1995mentioning

confidence: 99%

Design of UDE‐based controllers from their two‐degree‐of‐freedom nature

Zhong

Kuperman

Stobart

2010

Intl J Robust & Nonlinear

Self Cite

170

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show abstract

“…With the application of UDE to sliding mode control, both these drawbacks can be removed as shown by Talole and Phadke (2008). In Zhong (2009, 2011) and Stobart, Kuperman, and Zhong (2011), UDE based robust control designs for uncertain linear and nonlinear systems with state delays are presented and the authors have shown that the designs offer excellent tracking and disturbance rejection performance. As robustness is an important concern with the IOL control, application of the UDE technique for robustification of the IOL controller is presented in Talole and Phadke (2009) wherein the effect of system uncertainties are estimated by using the UDE and the IOL controller is augmented by using the estimated uncertainties.…”

Section: Ude Based Iol Controllermentioning

confidence: 96%

Design and experimental validation of UDE based controller--observer structure for robust input--output linearisation

Talole

Chandar

Kolhe

2011

International Journal of Control

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In this work, uncertainty and disturbance estimation (UDE) technique is employed to robustify an input-output linearisation (IOL) controller. An IOL controller designed for a nominal system is augmented by the UDE estimated uncertainties to achieve robustness. In doing so, state dependent nonlinearities of the system are treated as a part of the uncertainties and thus, the controller does not require system states for its implementation. The resulting controller, however, needs derivatives of the output. To address the issue, a design of an observer that employs the UDE estimated uncertainties for robustness is proposed giving rise to the UDE based controller-observer structure. Closed loop stability of the overall system is established. The notable feature of the proposed design is that it neither requires accurate plant model nor system states or derivatives of output. Also the approach does not need any information about the uncertainty. To demonstrate the effectiveness, numerical simulation results of the proposed approach as applied to the wing-rock motion control problem are presented. Lastly, hardware implementation of the UDE based controller-observer structure for motion control of Quanser's DC servo motion control platform is carried out and it is shown that the proposed strategy offers a viable approach for designing implementable robust IOL controllers.

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“…The UDE-based control strategy has been further elaborated A. Kuperman (B) Hybrid Energy Sources Laboratory, Department of Electrical Engineering and Electronics, Ariel University, POB 3, 40700 Ariel, Israel e-mail: alonku@ariel.ac.il in [2,3] and successfully applied to several different control problems [4][5][6][7][8][9][10]. The two-degree-of-freedom nature of UDE controllers has been revealed in [11], greatly simplifying underlying principle and facilitating controller design [12].…”

Section: Introductionmentioning

confidence: 98%

Design of $$\varvec{\upalpha }$$ α -filter-based UDE controllers considering finite control bandwidth

Kuperman

2015

Nonlinear Dyn

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Recently, a new first-order α-filter for uncertainty and disturbance estimator-based control was proposed to achieve reduced tracking and estimation errors in the presence of fast-varying uncertainties and shown to be capable of keeping the steadystate error within acceptable limits by appropriately choosing filter parameters. The purpose of this note is to demonstrate operation limits of the new filter and quantify performance enhancement by taking practical implementation issues and restrictions into account.

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Uncertainty and Disturbance Estimator–Based Control for Uncertain LTI-SISO Systems With State Delays

Cited by 51 publications

References 21 publications

Design of UDE‐based controllers from their two‐degree‐of‐freedom nature

Design of UDE‐based controllers from their two‐degree‐of‐freedom nature

Design and experimental validation of UDE based controller--observer structure for robust input--output linearisation

Design of $$\varvec{\upalpha }$$ α -filter-based UDE controllers considering finite control bandwidth

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