Non-Recursive Control Design for Nonlinear System With Backlash-Like Hysteresis and Disturbance

In this paper, we propose a non-recursive homogeneity-based robust control for a kind of nonlinear systems with backlash-like hysteresis and external disturbance, as an alternative approach to the well known recursive backstepping design which needs to compute a number of partial derivatives. The backlash-like hysteresis and external disturbance are also considered in our design which makes our method more practical in the application of control engineering. Global asymptotical tracking performance is guaranteed with proposed control scheme. Some simulation results are provided for illustrating our theoretical results.