A robust adaptive dynamic surface control for a class of nonlinear systems with unknown Prandtl-Ishilinskii hysteresis

作者：Zhang Xiuyu; Lin Yan^*; Mao Jianqin

来源：International Journal of Robust and Nonlinear Control, 2011, 21(13): 1541-1561.

DOI：10.1002/rnc.1652

• Prandtl-Ishlinskii hysteresis
• dynamic surface control
• adaptive control
• backstepping

In this paper, a robust adaptive dynamic surface control for a class of uncertain perturbed strict-feedback nonlinear systems preceded by unknown Prandtl-Ishlinskii hysteresis is proposed. The main advantages of our scheme are that the explosion of complexity problem can be eliminated when the hysteresis is fused with backstepping design and, by introducing an initialization technique, the L(infinity) performance of system tracking error can be achieved. It is proved that the new scheme can guarantee semi-global uniform ultimate boundedness of all closed-loop signals and make the convergence of the tracking error to an arbitrarily small residual set. Simulation results are presented to demonstrate the efficiency of the proposed scheme.

• 出版日期2011-9-10
• 单位北京航空航天大学