Stable adaptive NN control for nonlinear systems preceded by unknown backlash-like hysteresis via modified VSC approach

In this paper, a novel adaptive neural network control scheme is put forward for a class of SISO nonlinear systems with backlash-like hysteresis, where the hysteresis is modeled by a differential equation in the presence of bounded external disturbances. By using the merit of tangent function and the method of minimal parameterization, the proposed designs need no requirements for the knowledges of bounds on uncertain parameters or disturbances. Since the adaptive parameters are scalar variables rather than vector ones, computing burden is reduced compared with conventional designs. The effectiveness of proposed control is verified by simulations.