Multiscale Chebyshev Neural Network Identification and Adaptive Control for Backlash-Like Hysteresis System

An adaptive control based on a new Multiscale Chebyshev Neural Network (MSCNN) identification is proposed for the backlashlike hysteresis nonlinearity system in this paper. Firstly, a MSCNN is introduced to approximate the backlash-like nonlinearity of the system, and then, the Lyapunov theorem assures the identification approach is effective. Afterward, to simplify the control design, tracking error is transformed into a scalar error with Laplace transformation. Therefore, an adaptive control strategy based on the transformed scalar error is proposed, and all the signals of the closed-loop system are uniformly ultimately bounded (UUB). Finally, simulation results have demonstrated the performance of the proposed control scheme.