Adaptive control for plants in the presence of actuator and sensor hysteresis nonlinearities

This paper discusses the output control for a linear plant containing uncertain hysteresis nonlinearities in actuator and sensor devices simultaneously, where the hysteresis is described by Prandtl-Ishlinskii model. A new adaptive control scheme is developed to compensate the plant, the actuator and the sensor uncertainties and to generate an adaptive estimate of the plant output. The proposed control law ensures the uniform boundedness of all signals in the closed-loop system. Furthermore, the tracking error between the estimated output and the desired output is guaranteed to converge to zero asymptotically. Simulation results show the effectiveness of the proposed algorithm.