Nonsmooth Predictive Control for Wiener 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)

Abstract

In this paper, a nonsmooth predictive control method for Wiener systems with backlash-like hysteresis is proposed. In this type of system, the backlash-like hysteresis is connected in series with a preceded linear dynamic subsystem. A backlash-like hysteresis is modeled as a nonsmooth function with multivalued mapping; the corresponding objective function of the control system is also defined as being nonsmooth. In this case, the implementation of conventional model predictive control for such systems will encounter a challenge, since the gradients of the control criterion function with respect to control variables do not exist at nonsmooth points. In order to solve this problem, a nonsmooth receding horizon strategy based on Clarke subgradients is proposed. Moreover, the robust stability of the predictive control of such nonsmooth Wiener systems is analyzed. Finally, a numerical example and a simulation study on a mechanical transmission system are implemented to validate the proposed method.

Details

Original languageEnglish
Article number7151821
Pages (from-to)17-28
Number of pages12
Journal IEEE ASME transactions on mechatronics
Volume21
Issue number1
Publication statusPublished - Feb 2016
Peer-reviewedYes

Keywords

Keywords

  • non-smooth systems, predictive control, Wiener systems