This paper deals with adaptive control of nonlinear dynamic systems preceded by unknown backlash-like hysteresis nonlinearities, where the hysteresis is described by a dynamic equation. By utilizing this dynamic model and by combining a fuzzy universal function approximator with adaptive control techniques, a stable adaptive fuzzy control algorithm is developed without constructing a hysteresis inverse. The stability of the closed-loop system is shown using Lyapunov arguments. The effectiveness of the proposed method is demonstrated through simulations.
['Chun-Yi Su', 'Masahiro Oya', 'Henry Hong']
Stable adaptive fuzzy control of nonlinear systems preceded by unknown backlash-like hysteresis