Adaptive control for hysteretic system with unknown control direction

For a class of strict-feedback nonlinear systems with hysteresis described by Bouc-Wen model, adaptive controller is proposed combined with backstepping technique. In this method, RBF neural network is used to approximate the unknown function. The unknown control direction is solved by Nussbaum function. It is proved that all the closed-loop signals are bounded, and the tracking error converges to an arbitrarily small field. Finally, the simulation shows the feasibility of the control scheme.