Robust Adaptive Control of a Class of Nonlinear System with an Asymmetric Shifted Prandtl-Ishlinskii Hysteresis Model

Most of smart material-based actuators, such as magnetostrictive actuators and shape memory alloy (SMA) actuators, exhibit asymmetric hysteresis effect. This non-smooth nonlinearity can result in system inaccuracy and instability. In order to overcome this undesirable effect, a class of nonlinear systems with asymmetric hysteresis actuators described by an Asymmetric Shifted Prandtl-Ishlinskii (ASPI) model are treated as systems to be controlled, and the paper attempts to develop a robust adaptive control scheme to stabilize such systems and achieve precise tracking. With the proposed control scheme, the global stability of the closed-loop systems is analyzed and simulation results confirm the the proposed robust approach.