Hysteresis Inverse-Based Tracking Control of a Class of Hysteretic Nonlinear Systems With Input and Output Delays

The focus of this article is on developing a prediction-based controller for a class of hysteretic nonlinear systems with input and output delays to track desired trajectories. In comparison with existing results for hysteretic nonlinear systems with delays, we consider the presence of distinct and arbitrary length delays in both input and output channels of the system under the background of remote control. We propose a delay-compensation strategy, introducing a new prediction-based controller together with a prediction-based chain observer to compensate for input and output delays. This approach enables real-time monitoring of the tracking performance of remote devices from the local host. For this purpose, we initially apply the inverse hysteresis method to compensate for the hysteresis nonlinearity. Subsequently, a prediction-based chain observer is adopted to estimate the unmeasured state caused by the output delay. Based on online estimates of the state, we introduce a modified predictor to compensate for the input delay. By constructing the Lyapunov functional, we prove that the tracking error converges to a small enough region. Finally, the proposed scheme is applied to a piezoelectric positioning platform. Experimental results verify the effectiveness of the proposed theoretical results and indicate that the controller has great performance.