Abstract
The development of control approaches for systems preceded with hysteresis nonlinearities has received great attentions in recent decades. The most common approach is the construction of an inverse model as the compensator to mitigate hysteresis effects. However, most of the developed schemes are state-based, requiring the availability of states of systems, which may not be the case for some practical systems. In this paper, output control with inverse compensation will be addressed. By using the inverse as a feedforward compensator for the model described by the modified generalized Prandtl-Ishlinskii (MGPI) model, an corresponding analytical expression of the inverse compensation error is first obtained. Then, an observer-based robust adaptive output feedback controller is developed. It is shown that the proposed output feedback control scheme can not only guarantee the stability of the control systems, but also can achieve the desired tracking accuracy.
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