Robust adaptive control for a class of perturbed strict-feedback nonlinear systems with unknown Prandtl-Ishlinskii hysteresis

This paper deals with robust adaptive control of a class of perturbed strict-feedback nonlinear systems with unknown hysteresis. By using Ptandtl-Ishlinskii model with play and stop operators and the properties of this model mathematically, a robust adaptive control scheme is proposed. The global stability of the adaptive system is achieved, and the effectiveness of the proposed control approach is demonstrated through simulation example.