Disturbance observer–based prescribed adaptive control for rate-dependent hysteretic systems
Yangming Zhang
School of Automation Science and Electrical Engineering, Beihang University, Beijing, China
Search for more papers by this authorCorresponding Author
Peng Yan
School of Automation Science and Electrical Engineering, Beihang University, Beijing, China
Key Laboratory of High-efficiency and Clean Mechanical Manufacture, Ministry of Education, School of Mechanical Engineering, Shandong University, Jinan, China
Correspondence
Peng Yan, School of Automation Science and Electrical Engineering, Beihang University, Beijing 100083, China.
Email: [email protected]
Search for more papers by this authorYangming Zhang
School of Automation Science and Electrical Engineering, Beihang University, Beijing, China
Search for more papers by this authorCorresponding Author
Peng Yan
School of Automation Science and Electrical Engineering, Beihang University, Beijing, China
Key Laboratory of High-efficiency and Clean Mechanical Manufacture, Ministry of Education, School of Mechanical Engineering, Shandong University, Jinan, China
Correspondence
Peng Yan, School of Automation Science and Electrical Engineering, Beihang University, Beijing 100083, China.
Email: [email protected]
Search for more papers by this authorSummary
In this paper, a disturbance observer–based prescribed adaptive control approach is proposed for ultra-high-precision tracking of a class of hysteretic systems with both high-order matched and mismatched disturbances. Considering the adverse effects of asymmetric and rate-dependent hysteresis nonlinearities, a polynomial-based rate-dependent Prandtl-Ishlinskii model is first developed to characterize their behaviors, and inverse model based compensation is also constructed. Furthermore, the resulting inverse compensation error is analytically given, and a novel disturbance observer with adaptive control techniques is designed to handle the bounded disturbances, including the inverse compensation error and the high-order matched and mismatched disturbances. Comparative experiments on a multiaxis nano servo stage are finally conducted to demonstrate the effectiveness of the proposed control architecture, where substantial performance improvement over existing results are achieved on various tracking scenarios.
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