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Robust adaptive control of a class of nonlinear systems with unknown backlash-like hysteresis

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4 Author(s)
C. -Y. Su ; Dept. of Mech. Eng., Concordia Univ., Montreal, Que., Canada ; Y. Stepanenko ; J. Svoboda ; T. P. Leung

Deals with adaptive control of a class of nonlinear dynamic systems preceded by unknown backlash-like hysteresis nonlinearities, where the hysteresis is modeled by a differential equation. By exploiting solution properties of the differential equation and combining those properties with adaptive control techniques, a robust adaptive control algorithm is developed without constructing a hysteresis inverse. The new control law ensures global stability of the adaptive system and achieves both stabilization and tracking to within a desired precision. Simulations performed on a nonlinear system illustrate and clarify the approach

Published in:

IEEE Transactions on Automatic Control  (Volume:45 ,  Issue: 12 )