LAUSR

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.