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Abstract and Applied Analysis
Volume 2014, Article ID 640249, 10 pages
Research Article

Robust Adaptive Dynamic Surface Control for a Class of Nonlinear Dynamical Systems with Unknown Hysteresis

1The Key Laboratory of Autonomous System and Network Control, Ministry of Education, China
2The College of Automation Science and Engineering, South China University of Technology, Guangzhou 510640, China
3The Department of Electronic and Information Systems, Shibaura Institute of Technology, 307 Fukasaku, Minuma-ku, Saitama, Saitama 337-8570, Japan

Received 17 June 2013; Accepted 19 November 2013; Published 2 January 2014

Academic Editor: Massimo Furi

Copyright © 2014 Yong-Hua Liu et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


The output tracking problem for a class of uncertain strict-feedback nonlinear systems with unknown Duhem hysteresis input is investigated. In order to handle the undesirable effects caused by unknown hysteresis, the properties in respect to Duhem model are used to decompose it as a nonlinear smooth term and a nonlinear bounded “disturbance-like” term, which makes it possible to deal with the unknown hysteresis without constructing inverse in the controller design. By combining robust control and dynamic surface control technique, an adaptive controller is proposed in this paper to avoid “the explosion complexity” in the standard backstepping design procedure. The negative effects caused by the unknown hysteresis can be mitigated effectively, and the semiglobal uniform ultimate boundedness of all the signals in the closed-loop system is obtained. The effectiveness of the proposed scheme is validated through a simulation example.