Asymptotic Tracking Control for a Class of Nonlinear Systems with Unknown Failures of Hysteretic Actuators

An adaptive failure compensation controller for a class of nonlinear systems preceded by hysteretic actuators is proposed in this paper. Three types of high-gain functions are constructed to counteract the effects of the hysteresis, bounded modeling errors, and bounded disturbances. It is shown that the proposed controller not only ensures bounded signals and asymptotic tracking but also avoids possible chattering, despite the presence of unknown hysteretic actuator failures. Simulation results verify the desired failure compensation performance