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Uncertainty disturbance estimator control for delayed linear systems with input constraint

Mirshamsi, A ; Sharif University of Technology | 2024

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  1. Type of Document: Article
  2. DOI: 10.1016/j.automatica.2024.111763
  3. Publisher: 2024
  4. Abstract:
  5. This paper proposes a novel Uncertainty and Disturbance Estimator (UDE) based controller for Multi-Input Multi-Output (MIMO) systems. The controller handles input constraints, time-varying matched uncertainties in state and input matrices, unknown input–output delays, and partial state measurement. The UDE error dynamics are augmented with a time-varying variable to handle input constraints effectively. The proposed controller employs a Proportional Integral Observer (PIO) and a state predictor to accurately estimate the future state of the system with only partial state measurement. We develop sufficient conditions for system stability in tracking a reference model while only an estimation of the total delay is available. Numerical simulations and experiments on a multi-rotor platform validate the proposed controller's effectiveness, demonstrating improved tracking performance and stability compared to existing methods. The proposed UDE-based controller, with a PIO and state predictor, is capable of handling various matched uncertainties and disturbances in MIMO systems with input constraints and partial state measurement. It offers improved tracking performance and stability compared to existing studies. © 2024 Elsevier Ltd
  6. Keywords:
  7. UDE ; Disturbance rejection ; Linear systems ; MIMO systems ; Numerical methods ; Simulation platform ; System stability ; Two term control systems ; Uncertainty analysis ; Active disturbance rejection ; Estimator-based controllers ; Input constraints ; Input-output delay ; Multi-Input Multi-Output systems ; Partial state ; State measurements ; Uncertainty and disturbance estimators ; Unknown inputs ; Unknown input–output delay ; Controllers
  8. Source: Automatica ; Volume 167 , 2024 ; 00051098 (ISSN)
  9. URL: https://www.sciencedirect.com/science/article/abs/pii/S0005109824002577