Title :
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
fDate :
April 29 2012-May 2 2012
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;
Conference_Titel :
Electrical & Computer Engineering (CCECE), 2012 25th IEEE Canadian Conference on
Conference_Location :
Montreal, QC
Print_ISBN :
978-1-4673-1431-2
Electronic_ISBN :
0840-7789
DOI :
10.1109/CCECE.2012.6334916
