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In this paper, a robust adaptive control is proposed for a class of nonlinear systems preceded by unknown hysteresis. The generalized Prandtl-Ishlinskii (P-I) model is used to describe the characteristics of unknown hysteresis. The challenge addressed here is to fuse the generalized P-I model with controller design without constructing a hysteresis inverse. The Nussbaum-type function is used to solve the problem of unknown control directions and the high-order neural network approximate method is used to overcome the computational complexity. The global stability of the closed-loop system is achieved, and the effectiveness of the proposed control approach is demonstrated through simulation example.