Non-smooth predictive control for mechanical transmission systems with backlash-like hysteresis

Research output: Contribution to journalResearch articleContributedpeer-review

Contributors

  • Ruili Dong - , Shanghai Normal University (Author)
  • Yonghong Tan - , Shanghai Normal University (Author)
  • Klaus Janschek - , Chair of Automation Engineering (Author)
  • Xiang Chen - , University of Windsor (Author)

Abstract

This paper proposes a non-smooth predictive control approach for mechanical transmission systems described by dynamic models with preceded backlash-like hysteresis. In this type of system, the work platform is driven by a DC motor through a gearbox. The work platform is represented by a linear dynamic sub-model connected in series with a backlash-like hysteresis inherent in gearbox. Here, backlash-like hysteresis is modeled as a non-smooth function with multi-valued mapping. In this case, the conventional model predictive control for such system cannot be implemented directly since the gradients of the control objective function with respect to control variables do not exist at non-smooth points. In order to solve this problem, a non-smooth receding horizon strategy is proposed. Moreover, the stability of predictive control of such non-smooth dynamic systems is analyzed. Finally, a numerical example and a simulation study on a mechanical transmission system are presented for validating the proposed method.

Details

Original languageEnglish
Pages (from-to)2277-2295
Number of pages19
JournalNonlinear Dynamics
Volume85
Issue number4
Publication statusPublished - 1 Sept 2016
Peer-reviewedYes

External IDs

Scopus 84969134454

Keywords

Keywords

  • Backlash-like hysteresis, Non-smooth systems, Predictive control, Transmission systems