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The development of control techniques to mitigate the effects of unknown hysteresis preceding with plants has recently re-attracted significant attention. In this paper, we first give a brief review of presently developed hysteresis models and hysteresis compensating control methods. Then, with the use of the Prandtl-Ishlinskii hysteresis model, we propose a robust adaptive control scheme. The novelty is that the model of hysteresis nonlinearities is firstly fused with the available control techniques without necessarily constructing a hysteresis inverse. 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 clarify the approach.
The development of control techniques to mitigate the effects of unknown hysteresis preceding with plants has recently re-attracted significant attention. In this paper, we first give a brief review of presently developed hysteresis models and hysteresis compensating control methods. Then, with the use of the Prandtl-Ishlinskii hysteresis model, we propose a robust adaptive control scheme. The novelty is that the model of hysteresis nonlinearities is obtained by fused with the available control techniques without requiring constructing a hysteresis inverse. 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 clarify the approach.