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Robust adaptive tracking control of MIMO nonlinear systems in the presence of actuator hysteresis

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  • Guiyuan Fu
  • Linlin Ou
  • Weidong Zhang

Abstract

Adaptive tracking control of a class of MIMO nonlinear system preceded by unknown hysteresis is investigated. Based on dynamic surface control, an adaptive robust control law is developed and compensators are designed to mitigate the influences of both the unknown bounded external uncertainties and the unknown Prandtl–Islinskii hysteresis. By adopting the low-pass filters, the explosion of complexity caused by tedious computation of the time derivatives of the virtual control laws is overcome. With the proposed control scheme, the closed-loop system is proved to be semi-globally ultimately bounded by the Lyapunov stability theory, and the output of the controlled system can track the desired trajectories with an arbitrarily small error. Finally, numerical simulations are given to verify the effectiveness of the proposed approach.

Suggested Citation

  • Guiyuan Fu & Linlin Ou & Weidong Zhang, 2016. "Robust adaptive tracking control of MIMO nonlinear systems in the presence of actuator hysteresis," International Journal of Systems Science, Taylor & Francis Journals, vol. 47(10), pages 2359-2369, July.
    • Handle: RePEc:taf:tsysxx:v:47:y:2016:i:10:p:2359-2369
    DOI: 10.1080/00207721.2014.994051
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