Adaptive sliding model control for linear actuator with hysteresis using a Prandtl-Ishlinskii model

For a class of linear displacement actuator systems proceeded by Prandtl-Ishlinskii hysteresis model, an adaptive sliding mode controller is designed. At first, in order to reduce the hysteresis effect, an inverse approximate operator is used as a feed-forward compensator, and quantitative analysis of the inverse error is given. An adaptive sliding mode controller is then designed by Lyapunov method. The simulation example demonstrates that the control scheme has a good robust performance and dynamic performance.