Extremum seeking control in the presence of actuator hysteresis

Abstract

This paper presents a new extremum seeking control (ESC) that is able to handle a class of unknown actuator hysteresis in the form of the Bouc-Wen Model with unknown parameters. By inserting high frequency dither signals to the actuator, the main result shows that the output of the overall system, which consists of the dynamic plant, the ESC block, and the actuator with hysteresis, can still achieve semi-global practical asymptotic stability provided that the frequency and the amplitude of the dither signals are selected appropriately. Simulation results support the theoretic findings.