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Adaptive Control of a Class of Nonlinear Systems with Unknown Prandtl-Ishlinskii Hysteresis

In this paper, taking the advantage of the properties of Prandtl-Ishlinskii (PI) hysteresis model, an adaptive controller is developed for actuators dominated by unknown hysteresis nonlinearities, which are used in the dynamic systems with the uncertain parameters, where the cascaded plant can be expressed as parameterized form. By employing the construction of the inverse PI model and the adaptive control techniques, the new controller can guarantee the stability and good tracking performance with unknown hysteresis actuator, uncertain system dynamics, and the immeasurable actuator outputs. The simulation results validate the proposed controller and illustrate the performance.