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

摘要

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.