Adaptive control of plants with unknown hystereses

Abstract

For a system with hysteresis, the authors present a parameterized hysteresis model and develop a hysteresis inverse. The authors then design adaptive controllers with an adaptive hysteresis inverse for plants with unknown hysteresis. A new adaptive controller structure is introduced which is capable of achieving a linear parameterization and a linear error model in the presence of a hysteresis nonlinearity. A robust adaptive law is used to update the controller parameters and hysteresis inverse parameters, which ensures the global boundedness of the closed-loop signals for a wide class of of hysteresis models. Simulations show that the use of the adaptive hysteresis inverse leads to major improvements of system performance.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>