An adaptive output feedback dynamic surface control for a class of nonlinear systems with unknown backlash-like hysteresis

This paper is devoted to the output feedback control for a class of nonlinear systems with unknown backlash-like hysteresis at the input. Based on a high-gain observer, an adaptive dynamic surface control scheme is proposed which is able to mitigate the effect of the hysteresis, to eliminate the explosion of terms inherent in backstepping control, and in particular, by introducing an initialization technique, to guarantee the performance of the system's tracking error. Another advantage of the proposed scheme is that the adaptive law is needed only at the first design step, which greatly simplifies the design procedure and makes our control easy to implement. Copyright (c) 2011 John Wiley and Sons Asia Pte Ltd and Chinese Automatic Control Society