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Performance enhancement for a class of hysteresis nonlinearities using disturbance observers

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  • Control Theory
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Abstract

This paper addresses performance enhancement using disturbance observers (DOBs) for a class of hysteresis nonlinearities characterized by the Prandtl-Ishlinskii model. The proposed approach makes use of internal model-based estimation of exogenous disturbances. The synthesis of the DOB is formulated as an H ∞ weighted-sensitivity optimization for static output feedback (SOF) gain of a Luenberger observer. A linearization approach is then implemented to solve the rank-constrained (nonconvex) constrained semi-definite program (SDP) for the (sub) optimal static gain. Simulation results indicate that the closed-loop tracking performance is indeed enhanced using the DOB for reference inputs at different excitation frequencies.

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Authors and Affiliations

  1. Department of Mechatronics Engineering, The University of Jordan, Amman, 11942, Jordan

    Mohammad Al Janaideh

  2. R&D Engineer at Brooks Instrument, Hatfield, PA, USA

    Ahmed H. El-Shaer

Authors
  1. Mohammad Al Janaideh
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  2. Ahmed H. El-Shaer
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Corresponding author

Correspondence to Mohammad Al Janaideh.

Additional information

Recommended by Associate Editor Nam H. Jo under the direction of Editor Hyungbo Shim.

Mohammad Al Janaideh received his M.S. and Ph.D. degrees in Mechanical Engineering and Mechatronics from Concordia University, Montreal, QC, Canada, in 2004 and 2009, respectively. He is currently with the Department of Mechatronics Engineering, the University of Jordan, Amman, Jordan and the Department of Aerospace Engineering, the University of Michigan, Ann Arbor, Michigan. His research interests include control, smart actuators, modeling ratedependent and rate-independent hysteresis nonlinearities, and compensation of hysteresis.

Ahmed H. EL-Shaer received his M.A. in Applied Mathematics in 2007 and his Ph.D. in Mechanical Engineering in 2008, both from the University of California at Berkeley. He is currently a senior control systems R&D engineer with Brooks Instrument, Hatfield, PA. His research interests include robust control theory, nonlinear systems and advanced mechatronic applications.

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Janaideh, M.A., El-Shaer, A.H. Performance enhancement for a class of hysteresis nonlinearities using disturbance observers. Int. J. Control Autom. Syst. 12, 283–293 (2014). https://doi.org/10.1007/s12555-013-0222-6

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  • DOI: https://doi.org/10.1007/s12555-013-0222-6

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