Robust adaptive control of a class of nonlinear systems with Prandtl-Ishlinskii hysteresis

This paper deals with robust adaptive control of a class of nonlinear systems preceded by unknown hysteresis nonlinearities. By using a Prandtl-Ishlinskii model with play and stop operators and by exploring the properties of this model intuitively and mathematically, we attempt to fuse the model of hysteresis nonlinearities with the available control techniques without necessarily constructing a hysteresis inverse. A robust adaptive control scheme is therefore proposed. The global stability of the adaptive system and tracking a desired trajectory to a certain precision are achieved. Simulations performed on a nonlinear system illustrate and further validate the effectiveness of the proposed approach.