Disturbance observer-based prescribed adaptive control for rate-dependent hysteretic systems

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.