Nonsmooth Recursive Identification of Sandwich Systems with Backlash-Like Hysteresis

Abstract EN

A recursive gradient identification algorithm based on the bundle method for sandwich systems with backlash-like hysteresis is presented in this paper.

In this method, a dynamic parameter estimation scheme based on a subgradient is developed to handle the nonsmooth problem caused by the backlash embedded in the system.

The search direction of the algorithm is estimated based on the so-called bundle method.

Then, the convergence of the algorithm is discussed.

After that, simulation results on a nonsmooth sandwich system are presented to validate the proposed estimation algorithm.

Finally, the application of the proposed method to an X-Y moving positioning stage is illustrated.