Abstract
This paper deals with adaptive control of nonlinear dynamic systems preceded by unknown backlash-like hysteresis nonlinearities, where the hysteresis is modeled by a dynamic equation. By utilizing this dynamic model and by combining a universal function approximator with adaptive control techniques, a stable robust adaptive control algorithm is developed without constructing a hysteresis inverse. The stability of the close-loop system is shown using Lyapunov arguments. The effectiveness of the proposed method is demonstrated through simulations.
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© 2001 Springer-Verlag London
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Su, CY., Oya, M., Chen, X. (2001). Robust Adaptive Control of Nonlinear Systems with Dynamic Backlash-like Hysteresis. In: Tao, G., Lewis, F.L. (eds) Adaptive Control of Nonsmooth Dynamic Systems. Springer, London. https://doi.org/10.1007/978-1-4471-3687-3_10
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DOI: https://doi.org/10.1007/978-1-4471-3687-3_10
Publisher Name: Springer, London
Print ISBN: 978-1-84996-869-0
Online ISBN: 978-1-4471-3687-3
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