Dynamic surface asymptotic tracking of a class of uncertain nonlinear hysteretic systems using adaptive filters

This paper is concerned with the problem of dynamic surface asymptotic tracking for a class of uncertain nonlinear systems preceded by Bouc-Wen type of hysteresis nonlinearity. By introducing the nonlinear filters with a positive time-varying integral function, a novel robust adaptive control algorithm is presented without constructing the hysteresis inverse. Unlike some existing adaptive control schemes for systems with input hysteresis, the proposed controller not only solves the issue of “explosion of complexity” inherent in the recursive procedure, but also produces the asymptotic tracking in spite of input hysteresis and external disturbances. Finally, two simulation examples are presented to confirm the effectiveness of the developed control strategy.