Journal
IEEE TRANSACTIONS ON AUTOMATIC CONTROL
Volume 45, Issue 12, Pages 2427-2432Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/9.895588
Keywords
adaptive control; cascade systems; hysteresis; nonlinear systems; robust control
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This paper deals with adaptive control of a class of nonlinear dynamic systems preceded by unknown backlash-like hysteresis nonlinearities, where the hysteresis is modeled by a differential equation. By exploiting solution properties of the differential equation and combining those properties with adaptive control techniques, a robust adaptive control algorithm is developed without constructing a hysteresis inverse. The new control law ensures global stability of the adaptive system and achieves both stabilization and tracking to within a desired precision. Simulations performed on a nonlinear system illustrate and clarify the approach.
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