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Robust adaptive control for a class of nonlinear systems with generalized Prandtl-Ishlinskii hysteresis

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4 Author(s)
Ying Feng ; Department of Mechanical and Industrial Engineering, Concordia University, Montreal, Quebec, Canada ; Chun-Yi Su ; Henry Hong ; Sam. S. Ge

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.

Published in:

Decision and Control, 2007 46th IEEE Conference on

Date of Conference:

12-14 Dec. 2007