Dual Hysteresis Modeling of Magnetorheological Clutch for Collaborative Robots: A Port-Hamiltonian Multiphysics Approach
Authors
Chengxiao Wang, Yuanjin Yu, Jian Li, Liwei Shao, Zhen Li
Abstract
Precise modeling of magnetorheological clutches for collaborative robotics is challenged by coupled hysteresis induced by current and speed excitation. To address this dual-input hysteresis behavior, this article proposes a mechanism-guided multiphysics parametric state-space model formulated within the port-Hamiltonian (PH) framework. Based on this mechanism-guided formulation, low-order internal-state submodels are constructed for ferromagnetic magnetization and the viscoelastic–shear dynamics of the magnetorheological fluid, where the magnetization–viscoelasticity module characterizes current-induced hysteresis and the enhanced LuGre-type shear module captures speed-induced hysteresis near reversals. To explicitly represent interdomain energy exchange, these submodels are integrated into a coupled parametric state-space form using a PH representation with explicit storage–dissipation separation. Passivity constraints are derived from the PH power-balance property and incorporated into the identification process. Experiments under both periodic and aperiodic dual-input excitations demonstrate substantially improved prediction accuracy compared with a modified Bouc–Wen–Bingham hybrid benchmark. Further tests under bounded input and parameter perturbations indicate reduced performance degradation. Internal-state evolution further supports the attribution of current- and speed-induced memory effects.
Citation
- Journal: IEEE/ASME Transactions on Mechatronics
- Year: 2026
- Volume:
- Issue:
- Pages: 1–11
- Publisher: Institute of Electrical and Electronics Engineers (IEEE)
- DOI: 10.1109/tmech.2026.3722627
BibTeX
@article{Wang_2026,
title={{Dual Hysteresis Modeling of Magnetorheological Clutch for Collaborative Robots: A Port-Hamiltonian Multiphysics Approach}},
ISSN={1941-014X},
DOI={10.1109/tmech.2026.3722627},
journal={IEEE/ASME Transactions on Mechatronics},
publisher={Institute of Electrical and Electronics Engineers (IEEE)},
author={Wang, Chengxiao and Yu, Yuanjin and Li, Jian and Shao, Liwei and Li, Zhen},
year={2026},
pages={1--11}
}