Resetting disturbance observers with application in compensation of bounded nonlinearities like hysteresis in piezo-actuators

Niranjan Saikumar, Rahul Kumar Sinha, Hassan Hossein Nia Kani

Research output: Contribution to journalArticleScientificpeer-review

14 Citations (Scopus)
6 Downloads (Pure)

Abstract

This paper presents a novel nonlinear (reset) disturbance observer for dynamic compensation of bounded nonlinearities like hysteresis in piezoelectric actuators. Proposed Resetting Disturbance Observer (RDOB) utilizes a novel Constant-gain Lead-phase (CgLp) element based on the concept of reset control. The fundamental limitations of linear DOB which results in contradictory requirements and in a dependent design between DOB and feedback controller are analysed. Two different configurations of RDOB which attempt to alleviate these problems from different perspectives are presented and an example plant is used to highlight the improvement. Stability criteria are presented for both configurations. Performance improvement seen with both RDOB configurations compared to linear DOB is also verified on a practical piezoelectric setup for hysteresis compensation and results analysed.

Original languageEnglish
Pages (from-to)36-49
JournalControl Engineering Practice
Volume82
DOIs
Publication statusPublished - 2019

Keywords

  • Disturbance observers
  • Hysteresis
  • Piezo-actuators
  • Precision control
  • Reset element

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