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Adaptive Control for Nonlinear Systems with Unknown Hysteresis via Inverse Dynamics

In this paper, in order to design control scheme to mitigate the effects of unknown hysteresis, we propose a RBFN-based adaptive control scheme for nonlinear systems with a class of backlash-based unknown hysteresis nonlinearities. The control scheme adopts the idea of dynamic inversion and the concept of pseudo-control input. With Lyapunov theory, through two robustifying control terms, the scheme ensures the dynamic system to be stable, all signals in system to be bounded and tracking error to converge to a neighborhood of zero. The effectiveness of the proposed control scheme is illustrated through simulation