Nonsmooth identification of mechanical systems with backlash-like hysteresis  

作　　者：Ruili DONG Yonghong TAN David HE 

机构地区：[1]College of Mechanical and Electronic Technology, Shanghai Normal University [2]Department of Mechanical and Industrial Engineering, University of Illinois

出　　处：《控制理论与应用（英文版）》2013年第3期477-482,共6页

基　　金：supported by the National Natural Science Foundation of China (Nos. 61203108, 60971004, 61171088);the projects of the Science and Technology Commission of Shanghai (Nos. 09220503000, 10JC1412200, 09ZR1423400);the projects of Shanghai Education Commission(Nos. 11YZ92, 13YZ056)

摘　　要：Backlash-like hysteresis is one of the nonsmooth and multi-valued nonlinearities usually existing in mechanical systems. The traditional identification method is quite difficult to be used to model the systems involved with such complex nonlinearities. In this paper, a nonsmooth recursive identification algorithm for the systems with backlash-like hysteresis is proposed. In this method, the concept of Clarke subgradient is introduced to approximate the gradients at nonsmooth points and the so-called bundle method is used to obtain the optimization search direction in nonsmooth cases. Then, a recursive algorithm based on the idea of bundle method is developed for parameter estimation. After that, the convergence analysis of the algorithm is investigated. Finally, simulation results to validate the proposed method on a simulated mechanical transmission system are presented.Backlash-like hysteresis is one of the nonsmooth and multi-valued nonlinearities usually existing in mechanical systems. The traditional identification method is quite difficult to be used to model the systems involved with such complex nonlinearities. In this paper, a nonsmooth recursive identification algorithm for the systems with backlash-like hysteresis is proposed. In this method, the concept of Clarke subgradient is introduced to approximate the gradients at nonsmooth points and the so-called bundle method is used to obtain the optimization search direction in nonsmooth cases. Then, a recursive algorithm based on the idea of bundle method is developed for parameter estimation. After that, the convergence analysis of the algorithm is investigated. Finally, simulation results to validate the proposed method on a simulated mechanical transmission system are presented.

关 键 词：IDENTIFICATION Mechanical system Pseudo-Hammerstein model BACKLASH Bundle method SUBGRADIENT 

分 类 号：TH132[机械工程—机械制造及自动化]