Robust performance enhancement using disturbance observers for inverse-based hysteresis compensation: Preliminary results

Author

Al Janaideh, Mohammad ; El-Shaer, A.H. ; Krejci, Pavel ; Tomizuka, Masayoshi

Author_Institution

Dept. of Mechatron. Eng., Univ. of Jordan, Amman, Jordan

fYear

2012

fDate

April 29 2012-May 2 2012

Firstpage

1

Lastpage

4

Abstract

This paper presents an approach employing disturbance observers to enhance the performance inverse-based hysteresis compensation based on the Prandtl-Ishlinskii model. A disturbance observer (DOB) is designed to improve the closed loop robust tracking performance in the presence of plant dynamics uncertainty and hysteresis nonlinearities. Simulation results indicate that tracking performance is indeed improved using the combined inversion-based compensation and the DOB.

Keywords

closed loop systems; compensation; control nonlinearities; control system synthesis; hysteresis; observers; robust control; DOB; Prandtl-Ishlinskii model; closed loop robust tracking performance; combined inversion-based compensation; disturbance observers; hysteresis nonlinearities; performance inverse-based hysteresis compensation; plant dynamics uncertainty; robust performance enhancement; Actuators; Closed loop systems; Hysteresis; Observers; Robustness; Simulation; USA Councils; Disturbance observer; control; hysteresis;

fLanguage

English

Publisher

ieee

Conference_Titel

Electrical & Computer Engineering (CCECE), 2012 25th IEEE Canadian Conference on

Conference_Location

Montreal, QC

ISSN

0840-7789

Print_ISBN

978-1-4673-1431-2

Electronic_ISBN

0840-7789

Type

conf

DOI

10.1109/CCECE.2012.6334916

Filename

6334916