Prescribed performance control of strict-feedback systems with hysteresis input nonlinearity

A low-complexity, static and continuous controller is proposed for a class of strict-feedback systems of arbitrary relative degree preceded by a hysteresis input nonlinearity, which is represented by the Bouc-Wen model. The proposed controller achieves preselected bounds on both the transient and steady state performance of the output tracking error, despite the increased uncertainty in system nonlinearities and the hysteresis parameters. Further, the proposed control scheme efficiently evades the “explosion of complexity” issue inherent in the backstepping control methodology, and does not incorporate approximating structures, i.e., neural networks, fuzzy systems, etc. Simulations are performed to verify and clarify the effectiveness of the proposed controller.