Randomized iterative feedback tuning for fast MIMO feedback design of a mechatronic system

被引：0
作者：
Aarnoudse, Leontine [1 ]
den Toom, Peter [1 ]
Oomen, Tom [1 ,2 ]
机构：
[1] Eindhoven Univ Technol, Dept Mech Engn Control Syst Technol, Eindhoven, Netherlands
[2] Delft Univ Technol, Delft Ctr Syst & Control, Delft, Netherlands
来源：
CONTROL ENGINEERING PRACTICE | 2024年 / 154卷
关键词：
Iterative feedback tuning; MIMO systems; Gradient estimation; Data-driven control; CONTROLLERS;
D O I：
10.1016/j.conengprac.2024.106152
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
Iterative feedback tuning (IFT) enables the tuning of feedback controllers using only measured data to obtain the gradient of a cost criterion. The aim of this paper is to reduce the required number of experiments for MIMO IFT. It is shown that, through a randomization technique, an unbiased gradient estimate can be obtained from a single dedicated experiment, regardless of the size of the MIMO system. The gradient estimate is used in a stochastic gradient descent algorithm. The approach is experimentally validated on a mechatronic system, showing a significantly reduced number of experiments compared to standard IFT.
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页数：10
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