Robust adaptive control of a class of nonlinear systems including actuator hysteresis with Prandtl-Ishlinskii presentations

Authors:
Qingqing Wang;Chun-Yi Su
Affiliations:
Department of Mechanical and Industrial Engineering, Concordia University, Montreal, Que., Canada H3G 1M8;Department of Mechanical and Industrial Engineering, Concordia University, Montreal, Que., Canada H3G 1M8
Venue:
Automatica (Journal of IFAC)
Year:
2006

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Abstract

This paper deals with robust adaptive control of a class of nonlinear systems preceded by unknown hysteresis nonlinearities. By using a Prandtl-Ishlinskii model with play and stop operators, we attempt to fuse the model of hysteresis with the available control techniques without necessarily constructing a hysteresis inverse. A robust adaptive control scheme is therefore proposed. The global stability of the adaptive system and tracking a desired trajectory to a certain precision are achieved. Simulation results attained for a nonlinear system are presented to illustrate and further validate the effectiveness of the proposed approach.