Prescribed Adaptive Backstepping Control of Nonlinear Systems Preceded by Hysteresis in Piezoelectric Actuators

To address hysteresis in control systems, it is necessary to fuse the hysteresis model with existing control methods. However, the input signal implicitly involved in the hysteresis model can lead to obstacles in controller design. In this article, a novel hysteresis model with bounded auxiliary term is expressed in explicit form. The proposed model exhibits excellent modeling performance with simple structure. Then, the prescribed adaptive backstepping controller directly fused with the proposed model is adopted to realize stable and accurate control of system. Additionally, the tracking error within prescribed area is guaranteed. Experimental results are shown to validate the potential of the proposed method.