In this paper, the problem of adaptive tracking control is addressed for a class of nonlinear systems with parametric uncertainty, unknown actuator nonlinearity and disturbance. Two type of actuator nonlinearities, that is, backlash-like hysteresis and symmetric deadzone, are considered simultaneously. Without constructing the inverse function of actuator nonlinearity, unified control framework...

ysteresis is a nonlinear effect that arises in diverse disciplines ranging from physics to biology, from material science to mechanics, and from electronics to economics. While ferromagnetism offers a classical example, hysteresis also appears in mechanical systems (in the form of backlash and friction) and geophysical systems. In biology, hysteresis provides a mechanism that enhances the robus...

Abstract This study considers the tracking control problem of nonstrict-feedback nonlinear system with unknown backlash-like hysteresis, and a finite-time adaptive fuzzy scheme is developed to address this problem. More precisely, systems are employed approximate nonlinearities, design difficulties caused by nonlower triangular structure also overcome using property systems. Besides, effect hys...

In this study, a new position control scheme for the tendon-sheath mechanism (TSM) which is used in flexible medical devices is presented. TSM is widely used in dexterous robotic applications because it can flexibly work in limited space, in constrained environments, and provides efficient power transmission from the external actuator to the distal joint. However, nonlinearities from friction a...