Dynamic surface asymptotic tracking of uncertain nonlinear systems with backlash-like hysteresis

Abstract

In this paper, a dynamic surface asymptotic tracking control problem is investigated for a class of uncertain nonlinear systems preceded by unknown backlash-like hysteresis. By introducing the new modified nonlinear filters, a novel adaptive control algorithm via dynamic surface approach is therefore proposed. Moreover, the compensating term is considered to compensate the boundary layer errors in the filters, which can improve the control performance. Then, the positive time-varying integral function of hysteresis and external disturbance is utilized to design a smooth adaptive controller. It is proved that the constructed controller can guarantee semi-global stability of the closed-loop system and makes the convergence of the tracking error to origin theoretically. Finally, simulation results for a second-order controlled system are conducted to illustrate the effectiveness of the proposed the scheme.