Adaptive Control for Pure-Feedback Nonlinear Systems Preceded by Asymmetric Hysteresis

An adaptive control scheme is proposed for a class of uncertain pure-feedback nonlinear systems preceded by asymmetric hysteresis nonlinearity. The asymmetric property is described by the modified Bouc-Wen model based on the proposed asymmetric factor. State variables in the controller design are directly replaced with nonaffine functions to address the control problem caused by nonaffine appearance. Moreover, the control method can handle systems with external disturbances and guarantee the global stability of all the signals in the closed-loop system. The feasibility of the control scheme is verified by a simulation example and experimental results.