Modeling and Identification of Asymmetric Hysteresis in Smart Actuators: a Modified Maxwell-slip Model Approach

This paper proposes a modified Maxwell-slip (MS) model to capture convex and/or concave asymmetric hysteresis in smart actuators. The original MS model can only capture antisymmetric hysteresis. To overcome this limitation, generalized elasto-slide operators (ESOs) are constructed to replace MS elements. Each ESO is characterized by its spring extension stiffness constant, maximum extension, compression stiffness constant, and maximum compression. A procedure is also proposed to identify the model parameters. Simulation and experimental results show that the proposed model is capable of reproducing convex and/or concave asymmetric hysteresis and improving the fit between the modeling and experimental results.