Stable Adaptive Fuzzy Control of Nonlinear Systems with Unknown Backlash-Like Hysteresis

Abstract This paper deals with adaptive control of nonlinear dynamic systems preceded by unknown backlash-like hysteresis nonlinearities, where the hysteresis is modeled 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 close-loop system is shown using Lyapunov arguments. The effectiveness of the proposed method is demonstrated through simulations.