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Operator-based Robust Control for Nonlinear Uncertain Systems with Unknown Backlash-like Hysteresis

Shuhui Bi*, Lei Wang, Yongguo Zhao, Mingcong Deng
International Journal of Control, Automation, and Systems, vol. 14, no. 2, pp.469-477, 2016

Abstract : In this paper, operator based robust control for nonlinear uncertain system with unknown backlash-like hysteresis is considered. In detail, a continuous backlash-like hysteresis operator is proved to be corresponding to a one-to-one operator, that is, it is suitable to be used in operator theoretic based control theory. Moreover, an internal model control (IMC) structure with one parallel compensating operator is proposed for nonlinear uncertain system with unknown backlash-like hysteresis. Based on the proposed control scheme, the designed system is robustly stable and the desired output tracking performance can be realized simultaneously. Finally, a simulation example about nonlinear plant preceded by backlash is given to show the design procedure of the proposed method.

Keyword : Nonlinear uncertain systems, operator based robust right coprime factorization, robust nonlinear control, unknown backlash-like hysteresis.

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