Robust performance enhancement using disturbance observers for hysteresis compensation based on generalized Prandtl-Ishlinskii model

@article{ElShaer2012RobustPE,
  title={Robust performance enhancement using disturbance observers for hysteresis compensation based on generalized Prandtl-Ishlinskii model},
  author={Ahmed H. El-Shaer and Mohammad Al Janaideh and Pavel Krejc{\'i} and Masayoshi Tomizuka},
  journal={2012 American Control Conference (ACC)},
  year={2012},
  pages={1664-1669}
}
This paper presents an approach employing disturbance observers (DOBs) to enhance the performance of inverse-based hysteresis compensation based on the generalized Prandtl-Ishlinskii model in feedback control reference-tracking applications. It is first shown that the error resulting from inexact hysteresis cancelation is an L∞-bounded signal. Hence, a DOB is designed to cancel its effect and improve the closed loop robust tracking performance in the presence of plant uncertainty. The design of… CONTINUE READING

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