Prescribed Adaptive Control of a Class of Nonlinear System Preceded by Actuators with Hysteresis

Abstract Control of nonlinear systems preceded by actuators with hysteresis is a challenging task. To design an appropriate control law, it generally requires a model to describe the hysteresis nonlinearity. In the literature review, several models are developed for the purpose of describing the hysteretic behaviors including Prandtl-Ishlinskii (PI) model. In this paper, we attempt to fuse PI model with the prescribed adaptive control techniques to ensure global stability of the systems and guarantee the transient and steady-state performance of the tracking error without knowledge on both parameters of Prandtl-Ishlinskii model and system parameters. Finally, simulation results attained validate the effectiveness of the proposed control scheme.

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