A Nonsmooth Nonlinear Programming Based Predictive Control for Mechanical Servo Systems with Backlash‐like Hysteresis

In this paper, a multi-step-ahead predictive control approach for dynamic systems with preceded backlash-like hysteresis based on nonsmooth nonlinear programming is proposed. In this approach, a nonsmooth multi-step-ahead predictive model is developed for long-range prediction of the controlled dynamic systems with preceded backlash-like hysteresis. Then, the predictive control strategy is treated as a problem of on-line nonsmooth nonlinear programming. Subsequently, the stability of the nonsmooth predictive control system is analyzed and the corresponding stability condition is derived. Afterward, a numerical example and a simulation based on a mechanical servo system are presented, respectively.

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