Nonsmooth predictive control of mechanical systems with hysteresis

In this paper, a non-smooth control scheme is proposed for control of mechanical transmission systems with gearbox demonstrating nonsmooth hysteresis. In order to handle the control of mechanical systems with hysteresis, a nonsmooth predictive control strategy is proposed. It is noted that the method of conventional optimization is not suitable for the minimization of objective function due to the nonsmooth property of hysteresis. In this paper, a non-smooth nonlinear programming based nonsmooth receding horizon strategy is proposed to tackle the problem of on-line predictive control.

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