A novel output-only time-domain nonlinear subspace approach for identifying vibrating structures with clearance nonlinearity

•A novel output-only time-domain nonlinear subspace identification method is proposed.•The underlying linear part of nonlinear systems is obtained based on input-output data.•The nonlinear parameters are subsequently identified in an output-only manner.•The method is employed to identify vibrating structures with clearance nonlinearity.•Numerical and experimental results confirm its output-only identification capability.