Resetting Disturbance Observers with application in Compensation of bounded nonlinearities like Hysteresis in Piezo-Actuators

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.

References in corpus (1)

• Beyond the Waterbed Effect: Development of Fractional Order CRONE Control with Non-Linear Reset

Cited by in corpus (10)

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• The optimal sequence for reset controllers
• Fractional-Order Single State Reset Element
• Tuning of Constant in gain Lead in phase (CgLp) Reset Controller using higher-order sinusoidal input describing function (HOSIDF)
• A Frequency-Domain Stability Method for Reset Systems
• Band-Passing Nonlinearity in Reset Elements
• Complex order control for improved loop-shaping in precision positioning
• Benefiting from Linear Behaviour of a Nonlinear Reset-based Element at Certain Frequencies
• Reset Control for Vibration Disturbance Rejection