Modeling and Adaptive Output Feedback Control of Butterfly-Like Hysteretic Nonlinear Systems With Creep and Their Applications

This article proposes a novel robust adaptive piecewise indirect inverse output-feedback control scheme to mitigate butterfly-like hysteresis with creep in smart material actuators. Piecewise indirect inverse indicates that it is not a true hysteresis and creep inverse compensator, but an online decoupling mechanism to accessing the approximately actual control signal from the designed hysteretic and creeping temporary control signal. In addition, a new butterfly-like relay operator is proposed for the first time, leading to the construction of a new model of butterfly-like hysteresis with creep. Finally, the experimental results on the dielectric elastomer actuator motion control platform illustrate the effectiveness of the proposed output-feedback control scheme.