Journal
IEEE TRANSACTIONS ON AUTOMATIC CONTROL
Volume 49, Issue 10, Pages 1751-1757Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/tac.2004.835398
Keywords
adaptive control; backstepping; hysteresis; nonlinear system; robust control
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In this note, we consider the same class of systems as in a previous paper, i.e., a class of uncertain dynamic nonlinear systems preceded by unknown backlash-like hysteresis nonlinearities, where the hysteresis is modeled by a differential equation, in the presence of bounded external disturbances. By using backstepping technique, robust adaptive backstepping control algorithms are developed. Unlike some existing control schemes for systems with hysteresis, the developed backstepping controllers do not require the uncertain parameters within known intervals. Also, no knowledge is assumed on the bound of the disturbance-like term, a combination of the external disturbances and a term separated from the hysteresis model. It is shown that the proposed controllers not only can guarantee global stability, but also transient performance.
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