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Anti-windup design for Active Disturbance Rejection Control
KTH, School of Electrical Engineering (EES), Automatic Control. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.
2014 (English)In: Proceedings of the 33rd Chinese Control Conference: July 28-30, 2014, Nanjing, China, IEEE Computer Society, 2014, 2389-2395 p.Conference paper (Refereed)
Abstract [en]

An anti-windup compensate algorithm for active disturbance rejection mechanism is proposed in this paper. This paradigm extends the traditional anti-windup scheme to the Active Disturbance Rejection Control (ADRC) mechanism, to deal with the input saturation nonlinearity and meanwhile reject the disturbance automatically by using Extended State Observer (ESO). The output of anti-windup compensator is treated as a part of unknown disturbances and is introduced into the ESO, which can online observe both internal and external disturbances (parameter uncertainties and model mismatches). The controller input is yielded by using a nonlinear feedback combination, and it is used to compensate the integrator windup caused by the saturation nonlinearity element. On the other hand, in order to determine the parameters of the ESO and the anti-windup compensator feedback gain, the L2 gain is adopted. The effectiveness and the robustness against model and parameter uncertainties of the proposed method is verified by an example of the seeker platform.

Place, publisher, year, edition, pages
IEEE Computer Society, 2014. 2389-2395 p.
, Chinese Control Conference, CCC, ISSN 1934-1768
Keyword [en]
Active disturbance rejection, Actuator saturation, Anti-windup design, Extended State Observer (ESO), Tracking Differentiator
National Category
Other Engineering and Technologies
URN: urn:nbn:se:kth:diva-158089DOI: 10.1109/ChiCC.2014.6897008ScopusID: 2-s2.0-84907932909ISBN: 978-988156384-2OAI: diva2:775104
33rd Chinese Control Conference, CCC 2014, Nanjing, China, 28 July 2014 through 30 July 2014

QC 20141230

Available from: 2014-12-30 Created: 2014-12-22 Last updated: 2014-12-30Bibliographically approved

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Yang, Tao
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