Asymptotic Reference Tracking and Disturbance Rejection of UDE-Based Robust Control

• Published in: IEEE transactions on industrial electronics (1982) Vol. 64; no. 4; pp. 3166 - 3176
• Main Authors: Ren, Beibei, Zhong, Qing-Chang, Dai, Jiguo
• Format: Journal Article
• Language: English
• Published: New York IEEE 01.04.2017; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Active control; Asymptotic disturbance rejection; Asymptotic properties; Asymptotic stability; asymptotic tracking; Closed loop systems; Feedback control; Internal model principle; Observers; Reference systems; Rejection; Robust control; Stability analysis; Systematics; Systems stability; Tracking; Uncertainty; uncertainty and disturbance estimator (UDE)
• ISSN: 0278-0046; 1557-9948
• DOI: 10.1109/TIE.2016.2633473

The uncertainty and disturbance estimation (UDE)-based robust control strategy is able to achieve good robust performance by estimating and compensating the uncertainty and disturbance in a system with a filter having the appropriate frequency characteristics. However, how to systematically design the filter and the reference system in a UDE-based control system to achieve asymptotic reference tracking and disturbance rejection is still missing in the literature. In this paper, this is solved by applying the well-known internal model principle. The conditions to guarantee the closed-loop system stability and to achieve asymptotic disturbance rejection and reference tracking are derived. Experimental results on a servo system are presented as an example to demonstrate its excellent performance, which can actually reach the hardware resolution limit, with comparisons to the disturbance-observer-based control and the active disturbance rejection control.