Article
Automation & Control Systems
Te Zhang, Shiyao Li, Bo Zhu, Yuanlong Li, Tianjiang Hu
Summary: The UDE-based control approach is popular for its simplicity and effectiveness in rejecting input disturbances, but the transient performance issues of high-gain UDE are often overlooked. In this study, a classic UDE-based robust controller is designed for a linear system with various model uncertainties, and the singular-perturbation theory proves that small tracking errors can be achieved with a high gain for the UDE. A novel time-varying UDE (TV-UDE) is developed to improve transient performance, using a differential equation with a time-varying parameter. Simulation and experimental comparisons on an attitude control platform demonstrate the advantages of TV-UDE in avoiding performance issues of high-gain UDE.
INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL
(2023)
Article
Automation & Control Systems
Yeqin Wang, Beibei Ren, Qing-Chang Zhong
Summary: 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.
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
(2021)
Article
Engineering, Electrical & Electronic
Said Oucheriah
Summary: This paper investigates the stabilizing control problem of the buck-boost converter and proposes a robust nonlinear controller based on the uncertainty and disturbance estimator scheme. The controller can effectively regulate the output voltage and has good robustness to unknown inputs and parameter uncertainties.
INTERNATIONAL JOURNAL OF ELECTRONICS
(2023)
Article
Automation & Control Systems
Xiangyun Li, Qi Lu, Jiali Chen, Ning Jiang, Kang Li
Summary: To achieve safe and smooth robot-assisted healthcare task execution, real-time motion tracking controls and compliant physical human-robot interactions are crucial control objectives. This work develops a robust region tracking controller based on the uncertainty and disturbance estimator (UDE) for a robot manipulator. By using the potential function, the regional feedback error is derived to drive the robot manipulator end-effector to converge into the target region, enabling safe and compliant physical human-robot interaction. The UDE-based control framework integrates the regional feedback error seamlessly with the back-stepping control approach, utilizing the UDE to estimate and compensate for model uncertainties while requiring minimum model information for implementation. The stability of the closed-loop control system is analyzed using the Lyapunov method. Extensive experimental studies, including trajectory tracking, human-robot interaction, and benchmark comparison, are conducted to validate the effectiveness of the controller.
IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS
(2023)
Article
Computer Science, Information Systems
Li Lin, Huidan Tan, Xianyu Kong, Yapei Cao, Hao Luo, Yulu Lin, Zhijin Zhang
Summary: This paper proposes a coordinated voltage-power control strategy based on an uncertainty and disturbance estimator (UDE) for DC distribution networks, aiming to overcome the contradiction between power sharing and voltage deviation in traditional droop control, and enhance the immunity and tracking performance of voltage-source converter (VSC) current inner loop PI control.
Article
Automation & Control Systems
Zhen Tian, Qing-Chang Zhong, Beibei Ren, Jingqi Yuan
Summary: This paper proposes an improved UDE-based robust control strategy that can be applied to systems with both matched and mismatched uncertainties. By designing a modified reference model and using different control compensation terms, the stability and performance of the system are optimized.
INTERNATIONAL JOURNAL OF CONTROL
(2021)
Article
Engineering, Marine
Youqiang Huang, Defeng Wu, Zibin Yin, Zhi-Ming Yuan
Summary: This study introduced a dynamic surface controller based on an uncertainty and disturbance estimator (UDE) for DP vessels, which also utilized an auxiliary dynamic system (ADS) and smooth switching function to handle complex disturbances and input constraints. The combination of these methods simplified the control law design process and increased practicality for DP vessels, with stability proven using Lyapunov theory and effectiveness verified through simulation experiments.
Article
Automation & Control Systems
Deepika Deepika
Summary: This paper proposes a new fractional order integral terminal sliding mode control algorithm for the stabilization and synchronization of FO chaotic/hyper-chaotic systems. A novel double hyperbolic functions based uncertainty estimator is developed to estimate and mitigate unknown uncertainties. The presented control techniques incorporate a double hyperbolic reaching law to achieve convergence of system states and tracking errors. Examples and comparative analysis are provided to validate the proposed methodologies.
Article
Engineering, Electrical & Electronic
Amulya Viswambharan, Rachid Errouissi, Mahdi Debouza, Hussain Shareef
Summary: This paper proposes a controller using backstepping technique to solve the stabilization problem of a non-minimum phase DC-DC boost converter. The controller compensates for model uncertainties and unmeasured disturbances through the combination with a disturbance observer, achieving stabilization and zero steady-state error. Moreover, the controller can also compensate for control saturation and achieve good tracking performance for smooth voltage trajectories.
IEEE TRANSACTIONS ON CIRCUITS AND SYSTEMS I-REGULAR PAPERS
(2023)
Article
Nuclear Science & Technology
S. S. Nerkar, B. M. Patre, Ranvir Desai, P. S. Londhe
Summary: This paper presents a control strategy based on an uncertainty and disturbance estimator for power distribution control in the advanced heavy-water reactor (AHWR). Through detailed simulation on a 72nd-order multi-input nonlinear model, it is shown that the designed controller performs better in counteracting disturbances compared to optimal integral sliding mode control (ISMC). The stability of the overall system is proven.
NUCLEAR ENGINEERING AND DESIGN
(2023)
Article
Engineering, Marine
Jianming Miao, Wenchao Liu, Chao Peng, Xingyu Sun
Summary: This paper proposes a novel robust control strategy using combined uncertainty and disturbance estimator (UDE) and unscented Kalman filter (UKF) for the path-following control (PFC) of underactuated autonomous underwater vehicles (AUVs) under multiple uncertainties. The proposed strategy effectively handles both deterministic and stochastic uncertainties, and extensive simulations and analyses demonstrate its efficiency and robustness.
JOURNAL OF MARINE SCIENCE AND TECHNOLOGY
(2023)
Article
Automation & Control Systems
Zhuo Chen, Yong-Sheng Hao, Zhi-Gang Su, Beibei Ren, Li Sun
Summary: This article proposes a modified uncertainty and disturbance estimator (MUDE) based control method that exhibits strong robustness against unexpected dynamics in the presence of time delay. By adjusting the MUDE parameters, stable control of a class of first-order time-delay process models can be achieved. The stable regions of the MUDE parameters are theoretically derived and the influence mechanism of the filter parameter and feedback gain on disturbance rejection response is analyzed. The research findings highlight the criticality of delay margin in controller tuning.
IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING
(2023)
Article
Engineering, Marine
Shude He, Shi-Lu Dai, Zhijia Zhao, Tao Zou
Summary: This paper proposes a distributed synchronization control algorithm based on an uncertainty and disturbance estimator to address the accuracy problem in the synchronization motion of marine surface vehicles. The algorithm effectively compensates for modeling uncertainties and external disturbances, achieving fast and accurate synchronization motion.
Article
Engineering, Multidisciplinary
Rachid Errouissi, Hussain Shareef, Amulya Viswambharan, Addy Wahyudie
Summary: This article proposes a modification to the state model of a DC-DC boost converter to reduce difficulties in designing a stable control for the output voltage. The modified model behaves like a minimum-phase system, allowing for the use of a dynamic compensator that combines linearizing feedback control with a disturbance observer. Experimental tests demonstrate the effectiveness of the proposed controller in achieving good transient and steady-state performances.
IEEE TRANSACTIONS ON INDUSTRY APPLICATIONS
(2022)
Article
Automation & Control Systems
Zhengqiang Hao, Yantao Tian, Yang Yang, Yimin Gong, Zhengjie Hao, Jiannan Zhang
Summary: The research in this article focuses on a single rotor compressor using interior permanent magnet synchronous motors with sensorless control. It addresses the issue of periodic load fluctuations causing motor speed fluctuations. To address this issue, a controller is designed based on uncertainty and disturbance estimation for speed control and a resonance-based phase-locked loop for compensating for phase shift errors. Experimental results show that the sensorless control approach effectively improves the motor's stability and speed fluctuations under periodic loads.
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
(2023)
Article
Automation & Control Systems
Saif Ahmad, Ahmad Ali
Summary: This research proposes a low-power higher order extended state observer (ESO) to overcome the limitations of active disturbance rejection control (ADRC) technique, such as sensitivity to high-frequency measurement noise and complicated numerical implementation. The analysis also reveals the similarity between a recently proposed cascade ESO (CESO) and higher-order ESO. A case study on a dc-dc boost converter demonstrates the practical advantages of the proposed scheme, including improved immunity to high-frequency measurement noise, precise regulation in the presence of time-varying disturbance, low observer gains, and ease of tuning due to a single observer parameter.
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
(2022)
