Adaptive control of system involving complex hysteretic nonlinearities: a generalised Prandtl–Ishlinskii modelling approach

Abstract

In this article an adaptive control approach is proposed for a class of nonlinear systems preceded by unknown hysteretic nonlinearities, which is described by a generalised Prandtl–Ishlinskii (P-I) model. The main feature is that the generalised P-I hysteresis model is counted in the controller design without constructing a hysteresis inverse. The developed controller guarantees the global stability of the system and tracking a desired trajectory to a certain precision is achieved. The effectiveness of the proposed control approach is demonstrated through simulation example.

Keywords:

• hysteretic nonlinearities
• nonlinear system
• Prandtl–Ishlinskii model
• robust adaptive control

Acknowledgement

The work of C.-Y. Su was partially supported by the 111 Project of China (B08015).