Modeling and Adaptive Output Feedback Control of Butterfly-like Hysteretic Nonlinear Systems with Creep and Their Applications

This paper proposes a novel robust adaptive piecewise- indirect inverse output- feedback control scheme to mitigate butterfly-like hysteresis with creep in smart-material actuators. Piecewise-indirect inverse indicates that it is not a true hysteresis and creep inverse compensatorbut an on-line decoupling mechanism to accessing the approximately actual control signal from the designed hysteretic and creeping temporary control signal. In addition, a new butterfly-like relay operator is proposed for the first time, leading to the construction of a new model of butterfly-like hysteresis with creep. Finally, the experimental results on the dielectric elastomer actuator motion control platform illustrate the effectiveness of the proposed output-feedback control scheme.