Robust Adaptive Control of Nonlinear Systems with Dynamic Backlash-like Hysteresis

Abstract

This paper deals with adaptive control of nonlinear dynamic systems preceded by unknown backlash-like hysteresis nonlinearities, where the hysteresis is modeled by a dynamic equation. By utilizing this dynamic model and by combining a universal function approximator with adaptive control techniques, a stable robust adaptive control algorithm is developed without constructing a hysteresis inverse. The stability of the close-loop system is shown using Lyapunov arguments. The effectiveness of the proposed method is demonstrated through simulations.