Robust Adaptive Control of Uncertain Systems Preceded with Unknown Hysteresis Actuators

Control problem of systems actuated by the smart material based actuators are quite challenging, because of its intrinsic hysteresis nonlinear behaviors. This paper deals with such systems preceded with unknown hysteresis actuators. When the actuator with unknown hysteresis is cascaded with the uncertain dynamic system, the output of the actuators is also not measurable. Besides, such systems usually suffer from the disturbances. In this paper, the Prandtl-Ishlinskii (PI) hysteresis model is analyzed. Utilizing the properties raised, the fusion of PI model and Adaptive Robust Control (ARC) approach is provided. The proposed controller is able to deal with actuators with unknown hysteresis, uncertain system dynamics. Also, disturbances are also taken into consideration for such systems. The stability of the closed-loop system has been guaranteed and the simulation is provided to demonstrate the performance of the controller developed.