Adaptive backstepping control of a class of uncertain nonlinear systems with Prandtl-Ishlinskii hysteresis

This paper proposes the design of the adaptive controller for a class of single-input-single-output (SISO) nonlinear uncertain systems with unknown hysteresis where the hysteresis is modeled by Prandtl-Ishlinskii model. By using backstepping technique, adaptive backstepping control algorithm is developed. The effectiveness of the proposed method is demonstrated through simulation example.