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

Content Provider	IEEE Xplore Digital Library
Author	El-Shaer, A.H. Janaideh, M.A. Krejci, P. Tomizuka, M.
Copyright Year	2012
Description	Author affiliation: Dept. of Mech. Eng., Univ. of California at Berkeley, Berkeley, CA, USA (Tomizuka, M.) \|\| Math. Inst., Prague, Czech Republic (Krejci, P.) \|\| Samsung Electron. R&D (SISA), San Jose, CA, USA (El-Shaer, A.H.) \|\| Dept. of Mechatron. Eng., Univ. of Jordan, Amman, Jordan (Janaideh, M.A.)
Abstract	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 the DOB makes use of an equivalent internal model-based estimation of exogenous disturbances, where the internal model dynamics is designed to have at least one of its eigen-values at the origin. The synthesis is then formulated as an $H_{∞}$ weighted-sensitivity optimization for static output feedback (SOF) gain of a Luenberger observer. A linearization heuristic is then implemented to solve the bilinear-matrix-inequality (BMI) constrained semi-definite program (SDP) for a (sub)optimal static gain. Simulation results indicate that tracking performance is indeed improved using the combined inversion-based compensation and the DOB.
Sponsorship	IEEE Control Syst. Soc.
Starting Page	1664
Ending Page	1669
File Size	310776
Page Count	6
File Format	PDF
ISBN	9781457710957
ISSN	07431619
e-ISBN	9781457710964
e-ISBN	9781467321020
DOI	10.1109/ACC.2012.6314948
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2012-06-27
Publisher Place	Canada
Access Restriction	Subscribed
Rights Holder	American Automatic Control Council(AACC)
Subject Keyword	Hysteresis Robustness Observers Optimization Closed loop systems Mathematical model Cutoff frequency
Content Type	Text
Resource Type	Article
Subject	Electrical and Electronic Engineering

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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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