Abstract
In this paper, the tracking problem for a class of uncertain nonlinear systems preceded by unknown Coleman-Hodgdon hysteresis is investigated. By analysing the hysteresis conditions, an important property is given, and hence Coleman-Hodgdon hysteresis can be decomposed as a nonlinear smooth term and a nonlinear bounded distrubance-like term. In order to remove the difficulty arising from the nonlinear smooth term, mean value theorem and a Nussbaum function lemma are introduced. Then following backstepping design procedure, a novel adaptive controller is developed without constructing a hysteresis inverse. The proposed controller not only doesn’t need any assumptions on the uncertain system parameters within a known compact and a priori knowledge on the bound of the external disturbance, but also can guarantee global uniformly ultimately boundedness of all signals in the closed-loop system. Simulations performed on a nonlinear system illustrate and clarify the proposed scheme.
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Liu, YH., Feng, Y., Su, CY. (2013). Robust Adaptive Control of a Class of Nonlinear Systems with Unknown Hysteresis Nonlinearity. In: Lee, J., Lee, M.C., Liu, H., Ryu, JH. (eds) Intelligent Robotics and Applications. ICIRA 2013. Lecture Notes in Computer Science(), vol 8103. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-40849-6_62
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DOI: https://doi.org/10.1007/978-3-642-40849-6_62
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