Hysteresis Compensation Using Extended High-Gain Observer and Dynamic Inversion

Hysteresis is a nonlinearity exhibited by a wide class of smart materials, such as piezoelectrics and shape memory alloys, and it presents challenges in the control of smart material-actuated systems (for example, piezo-based nanopositioning systems). Existing methods for hysteresis compensation typically require an explicit model of the hysteresis, which tends to be high-dimensional operators and entails significant complexity in model identification and inversion. In this paper a novel hysteresis compensation method based on extended-high-gain observers and dynamic inversion is presented, which does not assume any specific hysteresis model. An extended high-gain observer is used to estimate the hysteresis output as well as other unknown dynamics of the system model, and then dynamic inversion is implemented to cancel the effect of hysteresis. With a mild assumption on the system and the input nonlinearity, the analysis of the closed-loop system under output feedback shows fast performance recovery to the trajectories of a target system, and that the tracking error converges exponentially to zero. Simulation results are presented to support the efficacy of the proposed approach.

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Dynamic inversion-based hysteresis compensation using extended high-gain observer

Automatica ◽

10.1016/j.automatica.2021.109977 ◽

2022 ◽

Vol 135 ◽

pp. 109977

Author(s):

Dhrubajit Chowdhury ◽

Yasir K. Al-Nadawi ◽

Xiaobo Tan

Keyword(s):

High Gain ◽

Dynamic Inversion ◽

Hysteresis Compensation ◽

High Gain Observer

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Adaptive Fractional-Order Fault-Tolerant Tracking Control for UAV Based on High-Gain Observer

Volume 9: 13th ASME/IEEE International Conference on Mechatronic and Embedded Systems and Applications ◽

10.1115/detc2017-67479 ◽

2017 ◽

Cited By ~ 1

Author(s):

Ziquan Yu ◽

Youmin Zhang ◽

Yaohong Qu ◽

Zhewen Xing

Keyword(s):

Fractional Order ◽

Tracking Control ◽

Fault Tolerant ◽

External Disturbance ◽

Tracking Error ◽

Small Region ◽

High Gain ◽

Actuator Fault ◽

High Gain Observer ◽

Flight Path Angle

This paper is concerned with the fractional-order fault-tolerant tracking control design for unmanned aerial vehicle (UAV) in the presence of external disturbance and actuator fault. Based on the functional decomposition, the dynamics of UAV is divided into velocity subsystem and altitude subsystem. Altitude, flight path angle, pitch angle and pitch rate are involved in the altitude subsystem. By using an adaptive mechanism, the fractional derivative of uncertainty including external disturbance and actuator fault is estimated. Moreover, in order to eliminate the problem of explosion of complexity in back-stepping approach, the high-gain observer is utilized to estimate the derivatives of virtual control signal. Furthermore, by using a fractional-order sliding surface involved with pitch dynamics, an adaptive fractional-order fault-tolerant control scheme is proposed for UAV. It is proved that all signals of the closed-loop system are bounded and the tracking error can converge to a small region containing zero via the Lyapunov analysis. Simulation results show that the proposed controller could achieve good tracking performance in the presence of actuator fault and external disturbance.

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