Dynamic surface control based on observer for a class of nonlinear systems with Prandtl-Ishlinskii hysteresis

Abstract

Unknown hysteresis characteristics can seriously affect control accuracy, resulting in system oscillation and instability. This study explored a dynamic surface control (DSC) method according to disturbance observer for a type of uncertain nonlinear system with unknown Prandtl-Ishlinskii hysteresis. First, DSC is adopted for the trajectory tracking control, which solves the “differential explosion” in the traditional backstepping control scheme and simplifies the structure of the controller. Then, an observer is introduced to monitor the hysteresis, effectively suppressing the effect of the hysteresis features on the system and achieving accurate tracking of the system. The scheme proposed in this study is confirmed to be effective based on the simulation results.

Adaptive swing reduction control of double-pendulum tower crane time-varying system based on real-time update mutation factor

“…where v 1 is a constant to be determined. As can be seen from equation (26), if m x 6 ¼ 0, then as t ! ', it can get that…”

“…Jiang et al 25 proposed an adaptive anti-pendulum control method considering load lifting motion that achieves a favorable control effect. Wang 26 proposed a control method based on a class of nonlinear systems with Prandtl-Ishlinskii hysteresis, It has a favorable control effect on the uncertain nonlinear system, and can also be applied to the typical uncertain nonlinear system like the tower crane system. In Zhang et al 27 and Van Trieu et al, 28 an energy coupled-dissipation control method and an adaptive fractional-order fast terminal sliding mode control for underactuated tower crane systems were present respectively that improved the anti-swing performance of the underactuated system effectively.…”