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Globally Asymptotic and Locally Exponential Tracking Observer/Controller for a Relatively Large Class of Systems with Hysteresis

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Abstract

In this work, we present an observer and controller for a class of plants with a relatively large class of hysteresis. For these considered classes of hysteretic systems, we propose and present an observer/controller that estimates or observes the hysteresis state and drives the position tracking error to zero. We prove that the combined tracking error and observer errors converge to zero both globally asymptotically and locally exponentially.

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Authors and Affiliations

  1. Mechanical Engineering Department, Wichita State University, 1845 N. Fairmount, Wichita, KS, 67260, USA

    Brian J. Driessen & Viraja Madhuri Duggirala

Authors
  1. Brian J. Driessen
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  2. Viraja Madhuri Duggirala
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Correspondence to Brian J. Driessen.

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Driessen, B.J., Duggirala, V.M. Globally Asymptotic and Locally Exponential Tracking Observer/Controller for a Relatively Large Class of Systems with Hysteresis. J Intell Robot Syst 50, 207–215 (2007). https://doi.org/10.1007/s10846-007-9161-x

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  • DOI: https://doi.org/10.1007/s10846-007-9161-x

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