Filtered-error-based control of a class of nonlinear systems with nonsmooth nonlinearities

This paper proposes a filtered-error-based method for a class of nonlinear systems with nonsmooth nonlinearities. For a class of special nonsmooth nonlinearities arising from hysteresis phenomena, a model based on play-like operators to describe the nonlinearities is first reviewed, and then an attempt is made to mitigate the effects of the nonlinearities with available control techniques. A simple filtered-error-based control scheme is specifically developed to guarantee the stability of the adaptive system and ensure tracking error within a desired precision. Simulation results attained for a nonlinear system are given to illustrate and further validate the effectiveness of the proposed methods of this paper.